DocumentCode :
1871283
Title :
Image-based path planning for outdoor mobile robots
Author :
Ollis, Mark ; Huang, Wesley H. ; Happold, Michael ; Stancil, Brian A.
Author_Institution :
Appl. Perception, Inc., Cranberry Township, PA
fYear :
2008
fDate :
19-23 May 2008
Firstpage :
2723
Lastpage :
2728
Abstract :
Traditionally, path planning for field robotic systems is performed in Cartesian space: sensor readings are transformed into terrain costs in a (Cartesian) costmap, and a path to the goal is planned in that map. In this paper, we propose a new approach: planning a path for the robot in the image-space of an on-board camera. We apply a learned color- to-cost mapping to transform a raw image into a cost-image, which then undergoes a pseudo-configuration-space transform. We search in the resulting cost-image for a path to the projected goal point in the image. One benefit of our approach is the ability to react to obstacles at ranges well beyond our 3D sensor range - independent testing has confirmed our system has effectively reacted to obstacles at a range of 93 m while our stereo sensor provides reliable data only up to 5 m away. We describe the details of our technique and the results from testing under the DARPA LAGR and UPI programs.
Keywords :
mobile robots; path planning; robot vision; image-based path planning; learned color- to-cost mapping; outdoor mobile robots; pseudo-configuration-space transform; Cameras; Costs; Mobile robots; Orbital robotics; Path planning; Robot sensing systems; Robot vision systems; Sensor systems; System testing; Terrain mapping;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
ISSN :
1050-4729
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2008.4543623
Filename :
4543623
Link To Document :
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