Autonomous navigation of a surveillance robot in harsh outdoor road environments

Youjin Shin; Donghyeon Kim; Hyunsuk Lee; Jooyoung Park; Woojin Chung

doi:10.1155/2013/837484

Autonomous navigation of a surveillance robot in harsh outdoor road environments

Youjin Shin, Donghyeon Kim, Hyunsuk Lee, Jooyoung Park, Woojin Chung

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.

Original language	English
Article number	837484
Journal	Advances in Mechanical Engineering
Volume	2013
DOIs	https://doi.org/10.1155/2013/837484
Publication status	Published - 2013

ASJC Scopus subject areas

Mechanical Engineering

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title = "Autonomous navigation of a surveillance robot in harsh outdoor road environments",

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Autonomous navigation of a surveillance robot in harsh outdoor road environments

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