Topological large-scale off-road navigation and exploration RAVON at the European Land Robot Trial 2008

@article{Braun2009TopologicalLO,
  title={Topological large-scale off-road navigation and exploration RAVON at the European Land Robot Trial 2008},
  author={T. Braun and B. Sch{\"a}fer and K. Berns},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={4387-4392}
}
  • T. Braun, B. Schäfer, K. Berns
  • Published 2009
  • Computer Science
  • 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • A large-scale navigation system for autonomous off-road robots is presented which uses a topological map to navigate to a previously unseen target location. During path traversal, the system relies on a local navigation layer to avoid obstacles not modeled in the map. Data from this local layer is abstracted to learn both realistic topological edge cost measures and local traversability maps which allow more efficient route selection during topological exploration. On the topological level, a… CONTINUE READING
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