Self-Reflective Terrain-Aware Robot Adaptation for Consistent Off-Road Ground Navigation
Self-Reflective Terrain-Aware Robot Adaptation for Consistent Off-Road Ground Navigation
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DOI：
10.1177/02783649231225243
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发表时间：
2021-11
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影响因子：
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通讯作者：
S. Siva;Maggie B. Wigness;J. Rogers;Long Quang;Hao Zhang
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作者：
S. Siva;Maggie B. Wigness;J. Rogers;Long Quang;Hao Zhang
地面机器人需要穿越非结构化和未准备地形的关键能力，并避免障碍物，以完成现实世界机器人应用中的任务，如灾难响应。当机器人在森林等越野野外环境中工作时，由于地形特征和机器人本身的变化，机器人的实际行为往往与其预期或计划的行为不匹配。因此，机器人自适应一致行为生成的能力对于非结构化越野地形上的机动性至关重要。为了解决这一挑战，我们提出了一种新的自反射地形感知适应方法，用于地面机器人在非结构化越野地形上产生一致的控制，使机器人在适应不同的非结构化地形的同时，能够通过机器人的自反射更准确地执行预期的行为。为了评估我们的方法的性能，我们使用具有各种功能变化的真实地面机器人在不同的非结构化越野地形上进行了广泛的实验。综合实验结果表明，我们的自反射地形感知自适应方法使地面机器人能够产生一致的导航行为，并且优于先前和基线技术。
Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field environments such as forests, the robot’s actual behaviors often do not match its expected or planned behaviors, due to changes in the characteristics of terrains and the robot itself. Therefore, the capability of robot adaptation for consistent behavior generation is essential for maneuverability on unstructured off-road terrains. In order to address the challenge, we propose a novel method of self-reflective terrain-aware adaptation for ground robots to generate consistent controls to navigate over unstructured off-road terrains, which enables robots to more accurately execute the expected behaviors through robot self-reflection while adapting to varying unstructured terrains. To evaluate our method’s performance, we conduct extensive experiments using real ground robots with various functionality changes over diverse unstructured off-road terrains. The comprehensive experimental results have shown that our self-reflective terrain-aware adaptation method enables ground robots to generate consistent navigational behaviors and outperforms the compared previous and baseline techniques.