Matches in SemOpenAlex for { <https://semopenalex.org/work/W2600201730> ?p ?o ?g. }
- W2600201730 endingPage "984" @default.
- W2600201730 startingPage "940" @default.
- W2600201730 abstract "We present a practical approach to global motion planning and terrain assessment for ground robots in generic three‐dimensional (3D) environments, including rough outdoor terrain, multilevel facilities, and more complex geometries. Our method computes optimized six‐dimensional trajectories compliant with curvature and continuity constraints directly on unordered point cloud maps, omitting any kind of explicit surface reconstruction, discretization, or topology extraction. We assess terrain geometry and traversability on demand during motion planning, by fitting robot‐sized planar patches to the map and analyzing the local distribution of map points. Our motion planning approach consists of sampling‐based initial trajectory generation, followed by precise local optimization according to a custom cost measure, using a novel, constraint‐aware trajectory optimization paradigm. We embed these methods in a complete autonomous navigation system based on localization and mapping by means of a 3D laser scanner and iterative closest point matching, suitable for both static and dynamic environments. The performance of the planning and terrain assessment algorithms is evaluated in offline experiments using recorded and simulated sensor data. Finally, we present the results of navigation experiments in three different environments—rough outdoor terrain, a two‐level parking garage, and a dynamic environment, demonstrating how the proposed methods enable autonomous navigation in complex 3D terrain." @default.
- W2600201730 created "2017-04-07" @default.
- W2600201730 creator A5016331448 @default.
- W2600201730 creator A5023013052 @default.
- W2600201730 creator A5035870534 @default.
- W2600201730 creator A5036408715 @default.
- W2600201730 date "2016-12-13" @default.
- W2600201730 modified "2023-10-16" @default.
- W2600201730 title "Driving on Point Clouds: Motion Planning, Trajectory Optimization, and Terrain Assessment in Generic Nonplanar Environments" @default.
- W2600201730 cites W1491628110 @default.
- W2600201730 cites W1497244668 @default.
- W2600201730 cites W1501506108 @default.
- W2600201730 cites W1524024963 @default.
- W2600201730 cites W1563055131 @default.
- W2600201730 cites W1697891746 @default.
- W2600201730 cites W1896090928 @default.
- W2600201730 cites W1896795971 @default.
- W2600201730 cites W1953793983 @default.
- W2600201730 cites W1958903105 @default.
- W2600201730 cites W1967981727 @default.
- W2600201730 cites W1970805560 @default.
- W2600201730 cites W1971086298 @default.
- W2600201730 cites W1973080743 @default.
- W2600201730 cites W1974868116 @default.
- W2600201730 cites W1991275316 @default.
- W2600201730 cites W1993999483 @default.
- W2600201730 cites W1996183429 @default.
- W2600201730 cites W1996354202 @default.
- W2600201730 cites W2000359213 @default.
- W2600201730 cites W2001094991 @default.
- W2600201730 cites W2002111712 @default.
- W2600201730 cites W2016144890 @default.
- W2600201730 cites W2019965290 @default.
- W2600201730 cites W2026902134 @default.
- W2600201730 cites W2037490150 @default.
- W2600201730 cites W2038488525 @default.
- W2600201730 cites W2043389781 @default.
- W2600201730 cites W2050710547 @default.
- W2600201730 cites W2068861396 @default.
- W2600201730 cites W2079133440 @default.
- W2600201730 cites W2082764616 @default.
- W2600201730 cites W2086564205 @default.
- W2600201730 cites W2089652819 @default.
- W2600201730 cites W2091277429 @default.
- W2600201730 cites W2092649904 @default.
- W2600201730 cites W2095275732 @default.
- W2600201730 cites W2097012286 @default.
- W2600201730 cites W2100816864 @default.
- W2600201730 cites W2102402483 @default.
- W2600201730 cites W2103120971 @default.
- W2600201730 cites W2106296899 @default.
- W2600201730 cites W2106789842 @default.
- W2600201730 cites W2109032771 @default.
- W2600201730 cites W2113122194 @default.
- W2600201730 cites W2113240578 @default.
- W2600201730 cites W2113526778 @default.
- W2600201730 cites W2116764847 @default.
- W2600201730 cites W2120379307 @default.
- W2600201730 cites W2128990851 @default.
- W2600201730 cites W2129571831 @default.
- W2600201730 cites W2130338305 @default.
- W2600201730 cites W2133918634 @default.
- W2600201730 cites W2136568475 @default.
- W2600201730 cites W2138395468 @default.
- W2600201730 cites W2142224528 @default.
- W2600201730 cites W2145364790 @default.
- W2600201730 cites W2151606974 @default.
- W2600201730 cites W2154844948 @default.
- W2600201730 cites W2156067790 @default.
- W2600201730 cites W2158970477 @default.
- W2600201730 cites W2161819990 @default.
- W2600201730 cites W2163411428 @default.
- W2600201730 cites W2167683317 @default.
- W2600201730 cites W2169528473 @default.
- W2600201730 cites W2552290591 @default.
- W2600201730 cites W3083069937 @default.
- W2600201730 cites W3083265500 @default.
- W2600201730 cites W3083372113 @default.
- W2600201730 cites W3083525536 @default.
- W2600201730 cites W3205474731 @default.
- W2600201730 cites W4214587036 @default.
- W2600201730 cites W4230475428 @default.
- W2600201730 cites W4232201561 @default.
- W2600201730 cites W4240824525 @default.
- W2600201730 cites W4249613729 @default.
- W2600201730 cites W4253850128 @default.
- W2600201730 cites W61873113 @default.
- W2600201730 doi "https://doi.org/10.1002/rob.21700" @default.
- W2600201730 hasPublicationYear "2016" @default.
- W2600201730 type Work @default.
- W2600201730 sameAs 2600201730 @default.
- W2600201730 citedByCount "90" @default.
- W2600201730 countsByYear W26002017302017 @default.
- W2600201730 countsByYear W26002017302018 @default.
- W2600201730 countsByYear W26002017302019 @default.
- W2600201730 countsByYear W26002017302020 @default.
- W2600201730 countsByYear W26002017302021 @default.
- W2600201730 countsByYear W26002017302022 @default.