Traversability for Search and Rescue Robot Based on Terrain Prediction and Correction
GUO Yan1, BAO Jiatong1, SONG Aiguo1, TANG Hongru 2
1. School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; 2. School of Energy and Power Engineering, Yangzhou University, Yangzhou 225009, China
郭晏, 包加桐, 宋爱国, 唐鸿儒. 基于地形预测与修正的搜救机器人可通过度[J]. 机器人, 2009, 31(5): 445-452..
GUO Yan, BAO Jiatong, SONG Aiguo, TANG Hongru . Traversability for Search and Rescue Robot Based on Terrain Prediction and Correction. ROBOT, 2009, 31(5): 445-452..
Abstract：A new algorithm for computing traversability of search and rescue robot is presented based on terrain prediction and correction to realize autonomous navigation.The traversability in this paper includes pre-traversability and real-time traversability.The pre-traversability is obtained by calculating terrain roughness and waviness in front of the robot with image processing methods,and the robot will follow a trace with maximum pre-traversability.During the running time,the posture variations of robot and the slip between the track and ground are measured to correct the robot navigation errors caused by pre-traversability.The revolving ultrasonic-rangefinder is used to get the distance information and avoid influence of obstacles on texture information.The field experiment demonstrates the effectiveness of this navigation algorithm.
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