scholarly journals Unevenness Point Descriptor for Terrain Analysis in Mobile Robot Applications

10.5772/56240 ◽  
2013 ◽  
Vol 10 (7) ◽  
pp. 284 ◽  
Author(s):  
Mauro Bellone ◽  
Giulio Reina ◽  
Nicola I. Giannoccaro ◽  
Luigi Spedicato
Keyword(s):  
Mobile Robot ◽  
Terrain Analysis

Visual and Tactile-Based Terrain Analysis Using a Cylindrical Mobile Robot

2005 ◽  
Vol 128 (1) ◽  
pp. 165-170 ◽  
Author(s):  
Giulio Reina ◽  
Mario M. Foglia ◽  
Annalisa Milella ◽  
Angelo Gentile
Keyword(s):  
Mobile Robot ◽  
Rolling Resistance ◽  
Tactile Sensor ◽  
Autonomous Mobile Robots ◽  
Rolling Motion ◽  
Rough Terrain ◽  
Terrain Analysis ◽  
Military Applications ◽  
Planning Methods ◽  
The University

Ground autonomous mobile robots have important applications, such as reconnaissance, patrol, planetary exploration, and military applications. In order to accomplish tasks on rough terrain, control and planning methods must consider the physical characteristics of the vehicle and of its environment. Failure to understand these characteristics could lead to vehicle endangement and consequent mission failure. This paper describes recent and current work at the Politecnico of Bari in collaboration with the University of Lecce in the area of deformable terrain mobility and sensing. A cylindrical mobile robot is presented and its rolling motion on terrain is studied from a theoretical and experimental prospect. A comprehensive model is developed taking into account the interaction of the vehicle with the terrain and the related dynamic ill effects, such as rolling resistance and slip, and it is experimentally validated. An unconventional application of the vehicle serving as a tactile sensor is discussed and experimental results are presented showing the effectiveness of the cylindrical mobile robot in estimating the properties of homogeneous, deformable terrain, which in turn can be used to assess the vehicle traversability.

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization

Control of Autonomous Mobile Robot Using Map Matching with Optimized Search Range

2013 ◽  
Vol 133 (5) ◽  
pp. 502-509 ◽  
Author(s):  
Kouhei Komiya ◽  
Shunsuke Miyashita ◽  
Yutaka Maruoka ◽  
Yutaka Uchimura
Keyword(s):  
Mobile Robot ◽  
Map Matching ◽  
Autonomous Mobile Robot ◽  
Search Range
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