DocumentCode :
3311354
Title :
Path planning for mobile robot on rough terrain based on sparse transition cost propagation in extended elevation maps
Author :
Ohki, T. ; Nagatani, Keiji ; Yoshida, Kenta
Author_Institution :
Dept. of Aerosp. Eng., Tohoku Univ., Sendai, Japan
fYear :
2013
fDate :
4-7 Aug. 2013
Firstpage :
494
Lastpage :
499
Abstract :
To efficiently evacuate an area threatened by volcanic disaster, onsite observation of active volcanoes by remotely controlled mobile robot systems is desired. Issues involved with developing such systems include planning a safe path for the robots. In this research, our objective was to realize a safe path planning method based on a digital elevation map (DEM) of volcanic mountain fields that considers the mobility of a mobile robot. We assumed that the DEM is obtained through airplane laser measurements beforehand. Because the target environment is vast, obtaining a DEM with sufficiently high resolution is difficult. Even if this is possible, path planning based on such a high-resolution DEM in vast environments significantly increases the computational load. Therefore, we propose a path planning method that can be applied to any DEM resolution; path planning is seamlessly performed roughly in a global scale and precisely in local scales. We extended the general DEM into 3-D space by adding an axis to denote the discrete heading direction of a mobile robot, which we call an extended elevation map (EEM). In the 3-D space EEM, the transition-cost from the start position is derived for each voxel by considering the mobility of the mobile robot. The transition-cost is sparsely propagated from the start position, and the sparsely valued field derives a single path with the lowest transition-cost to reach the goal position. The proposed method was implemented, and simulation experiments using DEMs of real volcanoes were performed to confirm its validity.
Keywords :
digital elevation models; geophysical equipment; mobile robots; path planning; position control; telerobotics; volcanology; 3D space EEM; active volcanoes; airplane laser measurements; digital elevation map; discrete heading direction; extended elevation maps; high-resolution DEM; mobile robot mobility; onsite observation; remotely controlled mobile robot systems; robot safe path planning; rough terrain; sparse transition cost propagation; volcanic disaster; volcanic mountain field; Airplanes; Laser radar; Mobile robots; Path planning; Planning; Volcanoes; Mobile robot; digital elevation map; path planning; volcano exploration;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation (ICMA), 2013 IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4673-5557-5
Type :
conf
DOI :
10.1109/ICMA.2013.6617967
Filename :
6617967
Link To Document :
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