6 accepted papers
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating efficient, stable, and smooth traversal motions. To achieve this,
Wheeled robot navigation has been widely used in urban environments, but navigation in wild vegetation is still challenging. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the surrounding environment, however, the supporting rigid ground used for travelling cann
Mobile robots navigating in outdoor environments frequently encounter the issue of undesired traces left by dynamic objects and manifested as obstacles on map, impeding robots from achieving accurate localization and effective navigation. To tackle the problem, a novel map construction framework bas
This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection. Then, obstacles are clustered by DBSCAN algorithm and enclosed with minimum bounding ellipses (MBEs). In ad…
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response behavior and comfort, treating the human as an appendage drag…
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a plane-fitting based uneven terrain navigation framework (PUTN) to…