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Navigability Analysis of Natural Terrains with Fuzzy Elevation Maps from Ground-based 3D Range Scans

dc.contributor.authorMartínez, J. L.
dc.contributor.authorMandow, Anthony 
dc.contributor.authorReina, A.
dc.contributor.authorCantador, Tomás J.
dc.contributor.authorMorales, J.
dc.contributor.authorGarcia-Cerezo, Alfonso J. 
dc.date.accessioned2014-01-10T11:54:22Z
dc.date.available2014-01-10T11:54:22Z
dc.date.issued2013
dc.identifier.citationMartínez, J. L.; Mandow, A.; Reina, A.; Cantador, T. J.; Morales, J.; García-Cerezo, A.; , "Navigability Analysis of Natural Terrains with Fuz zy Elevation Maps from Ground-based 3D Range Scans," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1576-1581, Nov. 2013 . DOI:10.1109/IROS.2013.6696559es_ES
dc.identifier.urihttp://hdl.handle.net/10630/6855
dc.description.abstractMobile robot navigation through natural terrains is a challenging issue with applications such as planetary exploration or search and rescue. This paper proposes navigability assessment of natural terrains scanned from ground-based 3D laser rangefinders. A continuous model of the terrain is obtained as a fuzzy elevation map (FEM). Based on this model, the proposed solution incorporates terrain navigability both in terms of uncertainties of the 3D input data and slope of the fuzzy surface. Moreover, the paper discusses the application of this method for local path planning. For this purpose, the Bug algorithm has been adapted to compute local paths on the navigable region of the FEM. The method has been applied to actual 3D point clouds on two different experimental sites.es_ES
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. This work was partially supported by the Spanish CICYT project DPI 2011-22443 and the Andalusian project PE-2010 TEP-6101.es_ES
dc.language.isoenges_ES
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectRobóticaes_ES
dc.subject.otherMobile robotses_ES
dc.subject.otherTerrain modellinges_ES
dc.subject.otherField roboticses_ES
dc.subject.other3D point cloudses_ES
dc.subject.otherlaser scanneres_ES
dc.subject.otherPath planninges_ES
dc.subject.otherRobot controles_ES
dc.titleNavigability Analysis of Natural Terrains with Fuzzy Elevation Maps from Ground-based 3D Range Scanses_ES
dc.typeinfo:eu-repo/semantics/conferenceObjectes_ES
dc.centroE.T.S.I. Industriales_ES
dc.relation.eventtitleIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)es_ES
dc.relation.eventplaceTokyo, Japanes_ES
dc.relation.eventdateNovember 2013es_ES


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