Hopping Rover Navigation Method for Rugged Environments

A tétel rövid nézete
dc.contributor.authorKovacs, Gabor
dc.contributor.authorKunii, Yasuharu
dc.contributor.authorHashimoto, Hideki
dc.date.accessioned2021-06-30T06:23:14Z
dc.date.available2021-06-30T06:23:14Z
dc.date.issued2019-12-23
dc.description.abstractIn this paper a navigation method is presented for space exploration robots using hopping motion in environments with large elevation differences. A monocular camera system is used to reconstruct the flight trajectory and environment around the robot using Structure from Motion while traveling. The created environmental point cloud is projected to 2D to create a variable resolution image and image processing is used to find the most suitable position for the next landing based on normals with the help of gradient maps and error estimation. The method is evaluated in a simulation environment against the previously used protrusion based method to show that the proposed system can extend the operation of the robot to terrains with large elevation differences while still successfully avoid obstacles and dangerous areas.en
dc.description.abstractIn this paper a navigation method is presented for space exploration robots using hopping motion in environments with large elevation differences. A monocular camera system is used to reconstruct the flight trajectory and environment around the robot using Structure from Motion while traveling. The created environmental point cloud is projected to 2D to create a variable resolution image and image processing is used to find the most suitable position for the next landing based on normals with the help of gradient maps and error estimation. The method is evaluated in a simulation environment against the previously used protrusion based method to show that the proposed system can extend the operation of the robot to terrains with large elevation differences while still successfully avoid obstacles and dangerous areas.hu
dc.formatapplication/pdf
dc.identifier.citationRecent Innovations in Mechatronics, Vol. 6 No. 1 (2019) , 1-6.
dc.identifier.doihttps://doi.org/10.17667/riim.2019.1/9.
dc.identifier.eissn2064-9622
dc.identifier.issue1
dc.identifier.jtitleRecent Innovations in Mechatronics
dc.identifier.urihttps://hdl.handle.net/2437/319799en
dc.identifier.volume6
dc.languageen
dc.relationhttps://ojs.lib.unideb.hu/rIim/article/view/3921
dc.rights.accessOpen Access
dc.rights.ownerby the authors
dc.subjectHopping Roveren
dc.subjectNavigationen
dc.subjectImage Processingen
dc.subjectRuggeden
dc.subjectSpace Explorationen
dc.subjectHopping Roverhu
dc.subjectNavigationhu
dc.subjectImage Processinghu
dc.subjectRuggedhu
dc.subjectSpace Explorationhu
dc.titleHopping Rover Navigation Method for Rugged Environmentsen
dc.typefolyóiratcikkhu
dc.typearticleen
Fájlok
Eredeti köteg (ORIGINAL bundle)
Megjelenítve 1 - 1 (Összesen 1)
Nincs kép
Név:
Pdf
Méret:
1.13 MB
Formátum:
Adobe Portable Document Format
Letöltés
Gyűjtemények
Recent Innovations in Mechatronics (DE-journals)