Abstract
This paper describes a novel approach for scene aware navigation in rough off-road environments using behavior-based control, graph-like world descriptions, and ontologies to determine correlations of surrounding objects and environmental properties. A geometry-based obstacle segmentation and convolutional neural networks for classification determine available scene items integrated into low and higher-level scene representations that are processed by a semantic control. Additionally, the surface's shape, vehicle kinematics, and dynamics and object properties are considered for the planning of low-level trajectories that are hierarchically integrated into the framework. The approach was implemented using behavior-based control and was evaluated using a Unimog U5023 off-road truck in simulation and real-world scenarios.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IOP Conference Series: Materials Science and Engineering
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
