Augmented vector field navigation cost mapping using inertial sensors

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dc.creatorFelipe G. Oliveira
dc.creatorArmando Alves Neto
dc.creatorPaulo Vinicius Koerich Borges
dc.creatorMario Fernando Montenegro Campos
dc.creatorDouglas Guimarães Macharet
dc.date.accessioned2025-05-05T16:01:59Z
dc.date.accessioned2025-09-09T01:28:41Z
dc.date.available2025-05-05T16:01:59Z
dc.date.issued2019
dc.identifier.doi10.1109/ICAR46387.2019.8981572
dc.identifier.urihttps://hdl.handle.net/1843/82020
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof19th International Conference on Advanced Robotics (ICAR)
dc.rightsAcesso Restrito
dc.subjectSistemas lineares
dc.subject.otherRobot navigation
dc.subject.otherCost Function , Vector Field , Inertial Measurement Unit , Navigation Cost , Outdoor Environments , Path Planning , Autonomous Navigation , Root Mean Square Error , Flat Surface , Angular Velocity , Gaussian Process , Kriging , Pathfinding , Vector Magnitude , Distance Information , Vibration Signals , Surface Slope , Roughness Measurements , Representation Of The Environment , Dijkstra’s Algorithm , Roughness Level , Terrain Map , Terrain Slope , Inertial Data , Efficient Navigation , Destination Point , Vertical Acceleration , Robot Navigation , Two-dimensional Grid , Covariance Function
dc.titleAugmented vector field navigation cost mapping using inertial sensors
dc.typeArtigo de evento
local.description.resumoIn outdoor field robotics, considering the environmental characteristics is key to improving the efficiency of autonomous navigation. In this context, identifying rough terrain can significantly increase the reliability of operations. This paper addresses the problem of mapping the navigation cost associated with uneven outdoor terrains. We propose an augmented vector field representation obtained only with the use of inertial sensors. The map is determined considering characteristics such as roughness and slope. Experiments were carried out with different robots in real-world environments presenting different terrain characteristics to analyze the quality and efficiency of the mapping process. Results show that the obtained navigation cost maps provide a reliable indication of the ground characteristics of outdoor environments and can be used in the path planning stage.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.departmentICX - DEPARTAMENTO DE CIÊNCIA DA COMPUTAÇÃO
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8981572

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