Kavli Affiliate: Xiang Zhang
| First 5 Authors: Yinchuan Wang, Nianfei Du, Yongsen Qin, Xiang Zhang, Rui Song
| Summary:
It is challenging for the mobile robot to achieve autonomous and mapless
navigation in the unknown environment with uneven terrain. In this study, we
present a layered and systematic pipeline. At the local level, we maintain a
tree structure that is dynamically extended with the navigation. This structure
unifies the planning with the terrain identification. Besides, it contributes
to explicitly identifying the hazardous areas on uneven terrain. In particular,
certain nodes of the tree are consistently kept to form a sparse graph at the
global level, which records the history of the exploration. A series of
subgoals that can be obtained in the tree and the graph are utilized for
leading the navigation. To determine a subgoal, we develop an evaluation method
whose input elements can be efficiently obtained on the layered structure. We
conduct both simulation and real-world experiments to evaluate the developed
method and its key modules. The experimental results demonstrate the
effectiveness and efficiency of our method. The robot can travel through the
unknown uneven region safely and reach the target rapidly without a
preconstructed map.
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