Long-term exploration and tours for energy constrained robots with online proprioceptive traversability estimation
Martin, Steven & Corke, Peter (2014) Long-term exploration and tours for energy constrained robots with online proprioceptive traversability estimation. In Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Hong Kong Convention and Exhibition Center, Hong Kong, China, pp. 5778-5785.
This paper is concerned with how a localised and energy-constrained robot can maximise its time in the field by taking paths and tours that minimise its energy expenditure. A significant component of a robot's energy is expended on mobility and is a function of terrain traversability. We estimate traversability online from data sensed by the robot as it moves, and use this to generate maps, explore and ultimately converge on minimum energy tours of the environment. We provide results of detailed simulations and parameter studies that show the efficacy of this approach for a robot moving over terrain with unknown traversability as well as a number of a priori unknown hard obstacles.
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|Item Type:||Conference Paper|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 Please consult the authors|
|Deposited On:||30 Jul 2014 23:16|
|Last Modified:||28 Oct 2014 04:27|
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