Stereo camera based navigation of mobile robots on rough terrain

摘要

A navigation algorithm for mobile robots in unknown rough terrain has been developed. The algorithm is solely based on stereo images and suitable for wheeled and legged robots. The navigation system is able to guide the robot along a short and safe path to a goal specified by the operator and given in coordinates relative to the starting point of the robot. The algorithm uses visual odometry for localization. The terrain is modeled from stereo images and its traversability is estimated. A D* Lite planner is used for efficiently planning a short and safe path by incorporating terrain traversability in the planning process. The robot actively explores its environment as it follows the path to the goal. The algorithm has been tested on a wheel driven mobile robot and on a six-legged walking robot on rough terrain.