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oai:riuma.uma.es:10630/358852026-02-03T11:14:10Zcom_10630_2254col_10630_37953

Fernández-Lozano, J. Jesús Martínez-Rodríguez, Jorge Luis Morales-Rodríguez, Jesús Sánchez-Montero, Manuel Morán, Mariano Reina, Antonio J. 2025-01-07T11:38:47Z 2025-01-07T11:38:47Z 2020 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 https://hdl.handle.net/10630/35885 10.3390/s20226423 Reactivity 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. eng http://creativecommons.org/licenses/by-nc-nd/4.0/ open access Attribution-NonCommercial-NoDerivatives 4.0 Internacional Simulación por ordenador Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability journal article