Speeded Up Elevation Map for Exploration of Large-Scale Subterranean Environments

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00342388" target="_blank" >RIV/68407700:21230/20:00342388 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1007/978-3-030-43890-6_15" target="_blank" >https://doi.org/10.1007/978-3-030-43890-6_15</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-030-43890-6_15" target="_blank" >10.1007/978-3-030-43890-6_15</a>

Result language

angličtina

Original language name

Speeded Up Elevation Map for Exploration of Large-Scale Subterranean Environments

Original language description

In this paper, we address a problem of the exploration of large-scale subterranean environments using autonomous ground mobile robots. In particular, we focus on an efficient data representation of the large-scale elevation map, where it is desirable to capture the shape of the terrain to avoid areas not traversable by a robot. Subterranean environments such as mine tunnel systems can be in units of kilometers large, but only a relatively small portion of the environment represents observable parts. Therefore, uniform grid-based elevation maps with resolution in units of centimeters are not memory efficient, and more suitable are hierarchical tree-based structures. However, hierarchical structures suffer from the increased computational requirements of accessing particular grid cells needed in determination of the navigational goals or evaluation of the terrain traversability in planning safe and cost-efficient paths. We propose a speed-up technique to combine the benefits of uniform grid-based and tree-based representations. The proposed elevation map representation keeps the memory footprint low using tree structure but enables fast access to the grid cells corresponding to the robot surroundings. The efficiency of the proposed data representation is demonstrated in an experimental deployment of the autonomous exploration of outdoor and subterranean environments.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Research Center for Informatics</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

6th International Workshop on Modelling and Simulation for Autonomous Systems

ISBN

9783030438890

ISSN

—

e-ISSN

1611-3349

Number of pages

13

Pages from-to

190-202

Publisher name

Springer

Place of publication

Wien

Event location

Palermo

Event date

Oct 29, 2019

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000628847000015