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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

<a href="/cs/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Výzkumné centrum informatiky</a><br>

Návaznosti

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

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

6th International Workshop on Modelling and Simulation for Autonomous Systems

ISBN

9783030438890

ISSN

—

e-ISSN

1611-3349

Počet stran výsledku

13

Strana od-do

190-202

Název nakladatele

Springer

Místo vydání

Wien

Místo konání akce

Palermo

Datum konání akce

29. 10. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000628847000015