On Predicting Terrain Changes Induced by Mobile Robot Traversal

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00382150" target="_blank" >RIV/68407700:21230/24:00382150 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/IROS58592.2024.10802070" target="_blank" >https://doi.org/10.1109/IROS58592.2024.10802070</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS58592.2024.10802070" target="_blank" >10.1109/IROS58592.2024.10802070</a>

Result language

angličtina

Original language name

On Predicting Terrain Changes Induced by Mobile Robot Traversal

Original language description

Mobile robots operating in convoys have a limited view of the terrain to be traversed if it is occluded by the preceding vehicle. Furthermore, the preceding vehicle might change the terrain geometry and eventually significantly alter its traversability by driving over the terrain. When the following vehicles do not consider such changes, they can use spurious terrain appearance and geometry to decide whether to follow in the tracks of the previous vehicle or to avoid them since the preceding vehicle's tracks can make the terrain untraversable. We propose to predict the terrain changes induced by the robot traversal on the traversed terrain and thus support the decision-making of the following vehicles. The developed model projects the robot wheel footprint along the planned robot path and combines the projection with the terrain appearance and prior terrain elevation. The coupled model is used in a convolutional neural network that predicts the elevation after traversal. The footprint projection component is designed so that learned networks can be transferred to vehicles with different wheel footprints without relearning the model. The proposed model is verified using a dataset captured using a real, one-ton, six-wheel robot traversing rigid roads and vegetated fields.

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/EH22_008%2F0004590" target="_blank" >EH22_008/0004590: Robotics and advanced industrial production</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2024

Confidentiality

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

Article name in the collection

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

ISBN

979-8-3503-7770-5

ISSN

2153-0858

e-ISSN

2153-0866

Number of pages

6

Pages from-to

11694-11699

Publisher name

IEEE

Place of publication

Piscataway

Event location

Abu Dhabi

Event date

Oct 14, 2024

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

001433985300538