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Navigating a mobile robot by a traversability field histogram.

Cang Ye1

  • 1Department of Applied Science, University of Arkansas at Little Rock, Little Rock, AR 72204, USA. cxye@ualr.edu

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|April 10, 2007
PubMed
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This study introduces an autonomous navigation system for mobile robots using a novel traversability field histogram (TFH) method. This approach enhances terrain mapping and path planning for efficient robot movement.

Area of Science:

  • Robotics
  • Autonomous Systems
  • Artificial Intelligence

Background:

  • Autonomous mobile robots require robust navigation systems for effective operation in unknown environments.
  • Accurate terrain assessment is crucial for path planning and obstacle avoidance.

Purpose of the Study:

  • To develop and validate an autonomous terrain navigation system for mobile robots.
  • To introduce a novel method for real-time terrain traversability assessment and path planning.

Main Methods:

  • Utilized a two-dimensional laser range finder (LRF) for local terrain mapping.
  • Developed the traversability field histogram (TFH) method, incorporating least-squares plane fitting for slope and roughness analysis.
  • Introduced the polar traversability index (PTI) to quantify travel difficulty in different directions.

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  • Implemented virtual valley and exit condition concepts for finite-length path generation.

    • Main Results:

    • The TFH method effectively transforms terrain data into a traversability map.
    • The polar traversability index (PTI) provides a clear representation of directional travel difficulty.
    • The system successfully generated velocity and steering commands for robot navigation.
    • Simulation and experimental results validated the proposed autonomous navigation algorithm.

    Conclusions:

    • The proposed autonomous terrain navigation system, based on the TFH method and PTI, offers a reliable approach for mobile robot guidance.
    • The system demonstrates effective path planning and execution in complex terrains.
    • This research contributes to advancements in autonomous robot navigation capabilities.