Abstract
This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.
Highlights
It is difficult to find reliable solutions for automated diagnosis of mechanical structures in harsh outdoor environment
This paper proposes a reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments
We propose an algorithm for recognition of curbs, the road surfaces, and obstacles using a single LRF in various road conditions
Summary
It is difficult to find reliable solutions for automated diagnosis of mechanical structures in harsh outdoor environment. This paper proposes a reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments. Rho et al [15, 16] proposed an algorithm for detecting curbs by extracting the lines of a road surface using Hough transforms. Kodagoda et al [18,19,20] proposed a reliable curb detection algorithm based on the EKF. LRF data have been obtained in 3D and used to detect the traversable area of the road [21]. In [24], a traversable road extraction method was presented for autonomous robot navigation in outdoor cluttered pedestrian walkways. We propose an algorithm for recognition of curbs, the road surfaces, and obstacles using a single LRF in various road conditions.
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