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
Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Engineering Profession
Fields, Waves and Electromagnetics
General Topics for Engineers
Geoscience
Nuclear Engineering
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Estimation
Path planning
Mobile robots
Autonomous robots
Autonomous
Traversability
Growing Neural Gas
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.