학술논문
Global Path Planning Based on Rough Terrain Perception Using Growing Neural Gas
Document Type
Conference
Source
2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS) Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS), 2024 Joint 13th International Conference on. :1-3 Nov, 2024
Subject
Language
Abstract
The development of autonomous mobile robots has been a persistent challenge, and their application in outdoor, rough terrain environments is especially beneficial. We propose a traversability perception method based on Growing Neural Gas with Different Topologise in the unknown rough terrain. Next, we propose a path planning method that utilizes the result of the traersability estimation. Finally, we conduct an experiment in a real environment to verify the effectiveness of the proposed method.