Open AccessAutonomous Navigation of a Surveillance Robot in Harsh Outdoor Road Environments
Author(s) -
Youjin Shin,
Donghyeon Kim,
Deokjung Lee,
Jooyoung Park,
Woojin Chung
Publication year - 2013
Publication title -
advances in mechanical engineering/advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1155/2013/837484
Subject(s) - robot , computer science , mobile robot , scheme (mathematics) , mobile robot navigation , service (business) , artificial intelligence , real time computing , computer vision , robot control , mathematical analysis , mathematics , economy , economics
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