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© 2018. This work is licensed under https://creativecommons.org/licenses/by/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.

Abstract

Laser rangefinders are sensors commonly employed to obtain three-dimensional (3D) point clouds of the area where the mobile robot moves. [...]these kinds of sensors are used by UGVs for off-road navigation [2], for planetary exploration [3], urban search and rescue [4] or for agricultural applications [5]. The blind zone of the 2D sensor is 90∘, which is located below to avoid interferences with the robot. [...]the blind zone for the 3D laser rangefinder is a cone with the radius of the base equal to the height h = 0.723 m of its optic centre above the floor. [...]the Cloud_maker node publishes the 3D leveled point cloud by combining the successive 2D vertical scans (published by the 2D_laser_scanner node) with the relative transformations between the reference system of the 2D laser scanner and XYZ (provided by the Spinning_head node), and between XYZ and Xp Yp Zp (published by the Local_positioning node). [...]the parameters zi,1 are filled with the heights deduced from the pitch and roll angles of the mobile robot at Xp Yp Zp .

Details

Title
Field Navigation Using Fuzzy Elevation Maps Built with Local 3D Laser Scans
Author
Martínez, Jorge L; Morán, Mariano; Morales, Jesús; Reina, Antonio J; Zafra, Manuel
Publication year
2018
Publication date
Mar 2018
Publisher
MDPI AG
e-ISSN
20763417
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
2314065904
Copyright
© 2018. This work is licensed under https://creativecommons.org/licenses/by/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.