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oai:riuma.uma.es:10630/68552026-02-03T12:05:11Zcom_10630_2254col_10630_37959

00925njm 22002777a 4500 dc Martínez, J. L. author Mandow, Anthony author Reina-Terol, Antonio Jesús author Cantador, Tomás J. author Morales, J. author García-Cerezo, Alfonso José author 2013 Mobile robot navigation through natural terrains is a challenging issue with applications such as planetary exploration or search and rescue. This paper proposes navigability assessment of natural terrains scanned from ground-based 3D laser rangefinders. A continuous model of the terrain is obtained as a fuzzy elevation map (FEM). Based on this model, the proposed solution incorporates terrain navigability both in terms of uncertainties of the 3D input data and slope of the fuzzy surface. Moreover, the paper discusses the application of this method for local path planning. For this purpose, the Bug algorithm has been adapted to compute local paths on the navigable region of the FEM. The method has been applied to actual 3D point clouds on two different experimental sites. Martínez, J. L.; Mandow, A.; Reina, A.; Cantador, T. J.; Morales, J.; García-Cerezo, A.; , "Navigability Analysis of Natural Terrains with Fuz zy Elevation Maps from Ground-based 3D Range Scans," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1576-1581, Nov. 2013 . DOI:10.1109/IROS.2013.6696559 http://hdl.handle.net/10630/6855 Robótica Navigability Analysis of Natural Terrains with Fuzzy Elevation Maps from Ground-based 3D Range Scans