Adaptive Traversability of Unknown Complex Terrain with Obstacles for Mobile Robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00218859" target="_blank" >RIV/68407700:21230/14:00218859 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA.2014.6907619" target="_blank" >http://dx.doi.org/10.1109/ICRA.2014.6907619</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2014.6907619" target="_blank" >10.1109/ICRA.2014.6907619</a>
Alternative languages
Result language
angličtina
Original language name
Adaptive Traversability of Unknown Complex Terrain with Obstacles for Mobile Robots
Original language description
In this paper we introduce the concept of Adaptive Traversability (AT), which we define as means of autonomous motion control adapting the robot morphology config uration of articulated parts and their compliances to traverse unknown complex terrain with obstacles in an optimal way. We verify this concept by proposing a reinforcement learnin g based AT algorithm for mobile robots operating in such conditions. We demonstrate the fu nctionality by training the AT algorithm under lab conditions on simpleEUR-pallet obstacl es and then testing it successfully on natural obstacles in a forest. For quantitative eva luation we define a metrics based on comparison with expert operator. Exploiting the propo sed AT algorithm significantly decreases the cognitive load of the operator.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
—
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation
ISBN
978-1-4799-3684-7
ISSN
1050-4729
e-ISSN
—
Number of pages
6
Pages from-to
5177-5182
Publisher name
IEEE
Place of publication
Piscataway
Event location
Hong Kong
Event date
May 31, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—