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12 June 2023 Terrain-aware autonomous robot navigation in outdoor environments
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Dinesh Manocha
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Proceedings Volume 12544, Open Architecture/Open Business Model Net-Centric Systems and Defense Transformation 2023; 125440B (2023) https://doi.org/10.1117/12.2663626
Event: SPIE Defense + Commercial Sensing, 2023, Orlando, Florida, United States
Abstract
In this work, we propose a method to perceive a terrain’s geometric and other surface properties for efficient motion planning in outdoor environments. Our method incorporates two perception branches to identify the terrain’s elevation and roughness separately. The first branch uses an elevation map created using LiDAR point clouds to compute a cost map that represents critical elevation changes. The second branch uses a vision-based cost map trained using RGB images, IMU, and robot odometry. Then, least-cost waypoints are calculated on a combined cost map and are followed using the Dynamic Window Approach (DWA). Our planner navigates along the least-cost waypoints while adaptively varying the velocities to reduce vibration. We evaluate our method’s performance on a Husky robot in real-world environments. We observe that our method leads to higher success rates, and lower vibrations compared to state-of-the-art methods.
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Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, and Dinesh Manocha "Terrain-aware autonomous robot navigation in outdoor environments", Proc. SPIE 12544, Open Architecture/Open Business Model Net-Centric Systems and Defense Transformation 2023, 125440B (12 June 2023); https://doi.org/10.1117/12.2663626
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KEYWORDS
Vibration
Surface properties
Sensors
Ground robots
Navigation systems
Vision based navigation
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