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Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability

Robotics and Mechatronic Lab, Andalucía Tech, Universidad de Málaga, 29071 Málaga, Spain
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Sensors 2020, 20(22), 6423; https://doi.org/10.3390/s20226423
Received: 28 August 2020 / Revised: 30 October 2020 / Accepted: 5 November 2020 / Published: 10 November 2020
(This article belongs to the Special Issue Autonomous Mobile Robots: Real-Time Sensing, Navigation, and Control)
Reactivity is a key component for autonomous vehicles navigating on natural terrains in order to safely avoid unknown obstacles. To this end, it is necessary to continuously assess traversability by processing on-board sensor data. This paper describes the case study of mobile robot Andabata that classifies traversable points from 3D laser scans acquired in motion of its vicinity to build 2D local traversability maps. Realistic robotic simulations with Gazebo were employed to appropriately adjust reactive behaviors. As a result, successful navigation tests with Andabata using the robot operating system (ROS) were performed on natural environments at low speeds. View Full-Text
Keywords: field navigation; ground vehicles; traversability classification; robotic simulation; 3D point cloud field navigation; ground vehicles; traversability classification; robotic simulation; 3D point cloud
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MDPI and ACS Style

Martínez, J.L.; Morales, J.; Sánchez, M.; Morán, M.; Reina, A.J.; Fernández-Lozano, J.J. Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability. Sensors 2020, 20, 6423. https://doi.org/10.3390/s20226423

AMA Style

Martínez JL, Morales J, Sánchez M, Morán M, Reina AJ, Fernández-Lozano JJ. Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability. Sensors. 2020; 20(22):6423. https://doi.org/10.3390/s20226423

Chicago/Turabian Style

Martínez, Jorge L.; Morales, Jesús; Sánchez, Manuel; Morán, Mariano; Reina, Antonio J.; Fernández-Lozano, J. J. 2020. "Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability" Sensors 20, no. 22: 6423. https://doi.org/10.3390/s20226423

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