Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain

  • This PhD thesis aims at finding a global robot navigation strategy for rugged off-road terrain which is robust against inaccurate self-localization, scalable to large environments, but also cost-efficient, e.g. able to generate navigation paths which optimize a cost measure closely related to terrain traversability. In order to meet this goal, aspects of both metrical and topological navigation techniques are combined. A primarily topological map is extended with the previously lacking capability of cost-efficient path planning and map extension. Further innovations include a multi-dimensional cost measure for topological edges, a method to learn these costs based on live feedback from the robot and a set of extrapolation methods to predict the traversability costs for untraversed edges. The thesis presents two sophisticated new image analysis techniques to optimize cost prediction based on the shape and appearance of surrounding terrain. Experimental results indicate that the proposed global navigation system is indeed able to perform cost-efficient, large scale path planning. At the same time, the need to maintain a fine-grained, global world model which would reduce the scalability of the approach is avoided.
  • Kosteneffiziente globale Roboternavigation in rauhem, unstrukturiertem Gelände

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Author:Tim Braun
Advisor:Karsten Berns
Document Type:Doctoral Thesis
Language of publication:English
Year of Completion:2009
Year of Publication:2009
Publishing Institute:Technische Universität Kaiserslautern
Granting Institute:Technische Universität Kaiserslautern
Acceptance Date of the Thesis:2009/03/27
Date of the Publication (Server):2009/12/11
Tag:Befahrbarkeitsanalyse; Fahrtkostenmodelle
Traversability Analysis; path cost models
GND-Keyword:Robotik; Navigation; Topologie
Faculties / Organisational entities:Kaiserslautern - Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011