期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：1
DOI：10.1177/1729881417751530
语种：English
出版社：SAGE Publications
摘要：Terrain traversability analysis is a challenging problem for mobile robots to adapt to complex environments, including the detection of cluttered obstacles, potholes, or even slopes. With the accurate distance information, using distance sensors such as three-dimensional light detection and ranging (LiDAR) for terrain description becomes a preferred choice. In this article, a terrain description method for traversability analysis based on elevation grid map is presented. After the elevation grid map is generated, the ground is segmented with the aid of a height difference kernel and the non-ground grids in the map are then clustered. The terrain description features, including height index, roughness, and slope angle, are calculated and estimated. The slope angle is estimated using random sample consensus (RANSAC) and least squares method, and specifically, the roughness is combined to eliminate false slopes. Experimental results verified the effectiveness of the proposed method.
关键词：Terrain description; point cloud; elevation grid map; roughness; slope angle estimation; mobile robots
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