Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability

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dc.centroEscuela de Ingenierías Industrialeses_ES
dc.contributor.authorFernández-Lozano, J. Jesús
dc.contributor.authorMartínez-Rodríguez, Jorge Luis
dc.contributor.authorMorales-Rodríguez, Jesús
dc.contributor.authorSánchez-Montero, Manuel
dc.contributor.authorMorán, Mariano
dc.contributor.authorReina, Antonio J.
dc.date.accessioned2025-01-07T11:38:47Z
dc.date.available2025-01-07T11:38:47Z
dc.date.issued2020
dc.departamentoIngeniería de Sistemas y Automática
dc.description.abstractReactivity is a key component for autonomous vehicles navigating on natural terrains in order to safely avoid unknown obstacles. To this end, it is necessary to continuously assess traversability by processing on-board sensor data. This paper describes the case study of mobile robot Andabata that classifies traversable points from 3D laser scans acquired in motion of its vicinity to build 2D local traversability maps. Realistic robotic simulations with Gazebo were employed to appropriately adjust reactive behaviors. As a result, successful navigation tests with Andabata using the robot operating system (ROS) were performed on natural environments at low speeds.es_ES
dc.description.sponsorshipThis work was partially supported by Andalusian project UMA18-FEDERJA-090 and Spanish project RTI2018-093421-B-I00.es_ES
dc.identifier.citationMartínez, J.L.; Morales, J.; Sánchez, M.; Morán, M.; Reina, A.J.; Fernández-Lozano, J.J. Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability. Sensors 2020, 20, 6423. https://doi.org/10.3390/s20226423es_ES
dc.identifier.doi10.3390/s20226423
dc.identifier.urihttps://hdl.handle.net/10630/35885
dc.language.isoenges_ES
dc.publisherMDPIes_ES
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.accessRightsopen accesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectSimulación por ordenadores_ES
dc.subject.otherSimulación robóticaes_ES
dc.subject.otherNavegación reactivaes_ES
dc.subject.otherRobótica de campoes_ES
dc.titleReactive Navigation on Natural Environments by Continuous Classification of Ground Traversabilityes_ES
dc.typejournal articlees_ES
dc.type.hasVersionVoRes_ES
dspace.entity.typePublication
relation.isAuthorOfPublicationf7f187bf-2543-410f-8e9e-d920911a5fd1
relation.isAuthorOfPublication14fa0e60-c422-48ee-8093-600fb95e788c
relation.isAuthorOfPublication.latestForDiscoveryf7f187bf-2543-410f-8e9e-d920911a5fd1

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