Core Concepts
Automatically generating navigation maps using LiDAR sensors for urban environments.
Abstract
This article discusses the importance of generating navigation maps for mobile robots in urban environments. It introduces an algorithm that uses a single top-mounted 3D LiDAR sensor to automatically create accurate maps featuring different terrain types and obstacles. The process involves data acquisition, preprocessing, and navigability analysis to ensure safe traversal for robots. Experimental validation shows excellent performance in both qualitative and quantitative assessments.
Stats
"The last few years have been characterized by a rising interest in mobile robotics."
"Mobile robots could provide an effective solution to the 'last-mile problem'."
"A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps."
"The proposed method is designed and validated with the urban environment as the main use case."
"The algorithm is applied to data collected in a typical urban environment with a wheeled inverted pendulum robot."
Quotes
"Just like a human, a robotic vehicle is more efficient in navigating an environment if it has knowledge of its structure."
"Having a navigation map available is even more important, since the planner can find the shortest path to the destination directly."