On terrain traversability analysis in unstructured environments: recent advances in forest applications

摘要

Abstract In the field of mobile robotics and autonomous systems, the ability to navigate in unstructured environments is a major challenge. Unpredictable landscapes consisting of irregular and possibly unconsolidated terrain, especially in natural environments such as forests, require comprehensive analysis and innovative solutions for robot perception and control. This article provides an introduction to the field of traversability analysis, with a particular focus on recent advances tailored to forest environments. It presents both the classical and earlier techniques as well as current state-of-the-art methods that enable the adaptability and efficiency of robots in maneuvering through complex, unstructured landscapes. By highlighting and discussing relevant methods, this paper aims to succinctly provide the reader with fundamental knowledge regarding traversability analysis in a forestry context. Finally, a roadmap for the future use of traversability analysis methods in forestry environments is presented.