RT Journal Article
T1 Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability
A1 Fernández-Lozano, J. Jesús
A1 Martínez-Rodríguez, Jorge Luis
A1 Morales-Rodríguez, Jesús
A1 Sánchez-Montero, Manuel
A1 Morán, Mariano
A1 Reina, Antonio J.
K1 Simulación por ordenador
AB Reactivity is a key component for autonomous vehicles navigating on natural terrainsin order to safely avoid unknown obstacles. To this end, it is necessary to continuously assesstraversability by processing on-board sensor data. This paper describes the case study of mobilerobot Andabata that classifies traversable points from 3D laser scans acquired in motion of its vicinityto build 2D local traversability maps. Realistic robotic simulations with Gazebo were employed toappropriately adjust reactive behaviors. As a result, successful navigation tests with Andabata usingthe robot operating system (ROS) were performed on natural environments at low speeds.
PB MDPI
YR 2020
FD 2020
LK https://hdl.handle.net/10630/35885
UL https://hdl.handle.net/10630/35885
LA eng
NO Martínez, 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/s20226423
NO This work was partially supported by Andalusian project UMA18-FEDERJA-090 and Spanish projectRTI2018-093421-B-I00.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026