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In the site survey of a four-sided traverse, internal angles are essential to ensure geometric accuracy. The survey revealed that the sum of the measured internal angles was 359 degrees and 48 minutes, which is 12 minutes less than the expected 360 degrees. This discrepancy signals an error likely arising from measurement inaccuracies during the fieldwork.To rectify this error, the adjustment process involved distributing the 12-minute shortfall equally across the four internal angles. By...
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  11. A Review On Traversability Risk Assessments For Autonomous Ground Vehicles: Methods And Metrics.

A Review on Traversability Risk Assessments for Autonomous Ground Vehicles: Methods and Metrics.

Mohamed Benrabah1, Charifou Orou Mousse1, Elie Randriamiarintsoa1

  • 1Clermont Auvergne INP, CNRS, Institut Pascal, Université Clermont Auvergne, F-63000 Clermont-Ferrand, France.

Sensors (Basel, Switzerland)
|March 28, 2024

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View abstract on PubMed

Summary
This summary is machine-generated.

This review examines how mobile robots assess operational risks, classifying risk-aware navigation algorithms and risk assessment methods. It aims to provide a structured reference for safe robot planning and hazard prediction.

Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computer Science

Background:

  • Safe operation planning is crucial for mobile robots.
  • Diverse definitions and algorithmic approaches exist for risk assessment in robotics.
  • Understanding traversability risk is key for mobile robot navigation.

Purpose of the Study:

  • To review state-of-the-art approaches defining traversability risk for mobile robots.
  • To classify existing risk-aware navigation algorithms based on risk characterization.
  • To provide a structured overview of risk assessment formulations and metrics in robotics.

Main Methods:

  • Literature review of risk-aware navigation algorithms.
  • Classification of algorithms based on their risk characterization.
Keywords:
occupancy gridsrisk assessmentrisk metrictraversability analysis

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  • Overview of risk assessment formulations using traversability grid maps.
  • Discussion on the consistency of common risk metrics.

    • Main Results:

    • Categorization of various risk-aware navigation strategies.
    • Analysis of how traversability grid maps are used for path risk assessment.
    • Identification of different ways risk is quantified in mobile robotics.

    Conclusions:

    • A structured overview of traversability risk assessment in mobile robotics is presented.
    • The review serves as a reference for practitioners and researchers in the field.
    • Future developments in risk-aware navigation can be inspired by this comprehensive analysis.
    unmanned ground vehicles