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Open AccessArticle

Field Navigation Using Fuzzy Elevation Maps Built with Local 3D Laser Scans

Dpto. de Ingeniería de Sistemas y Automática, Universidad de Málaga, Andalucía Tech, 29071 Málaga, Spain
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Appl. Sci. 2018, 8(3), 397; https://doi.org/10.3390/app8030397
Received: 15 December 2017 / Revised: 2 March 2018 / Accepted: 4 March 2018 / Published: 8 March 2018
(This article belongs to the Special Issue Laser Scanning)
The paper describes the case study of the mobile robot Andabata navigating on natural terrain at low speeds with fuzzy elevation maps (FEMs). To this end, leveled three-dimensional (3D) point clouds of the surroundings are obtained by synchronizing ranges obtained from a 360 field of view 3D laser scanner with odometric and inertial measurements of the vehicle. Then, filtered point clouds are employed to produce FEMs and their corresponding fuzzy reliability masks (FRMs). Finally, each local FEM and its FRM are processed to choose the best motion direction to reach distant goal points through traversable areas. All these tasks have been implemented using ROS (Robot Operating System) nodes distributed among the cores of the onboard processor. Experimental results of Andabata during non-stop navigation on an urban park are presented. View Full-Text
Keywords: outdoor navigation; unmanned ground vehicles; fuzzy elevation maps; 3D laser scanner outdoor navigation; unmanned ground vehicles; fuzzy elevation maps; 3D laser scanner
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Martínez, J.L.; Morán, M.; Morales, J.; Reina, A.J.; Zafra, M. Field Navigation Using Fuzzy Elevation Maps Built with Local 3D Laser Scans. Appl. Sci. 2018, 8, 397.

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