loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: D. C. Guastella ; L. Cantelli ; C. D. Melita and G. Muscato

Affiliation: Università degli Studi di Catania, Italy

Keyword(s): Outdoor Environments, Rough Terrain, Unmanned Aerial Vehicle, Tracked Vehicle, Traversability, Path Planning.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Robot and Multi-Robot Systems

Abstract: An approach for global path planning of an Unmanned Ground Vehicle (UGV) is proposed, including basic traversability analysis of the rough terrain to get through. The navigation capabilities of the UGV, in performing such analysis, are considered. The here proposed solution is organized into two following phases: first an aerial scan of the environment is executed by a UAV (Unmanned Aerial Vehicle) and the elevation map of the area is built; after that, a set of processing algorithms is applied to such surface model to derive a 2D costmap (whose costs are based on the prior traversability analysis) which is given as input of a D* path planner. The resulting path can be eventually delivered as a sequence of waypoints for a navigation controller on the field mobile platform.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.188.108.54

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Guastella, D.; Cantelli, L.; Melita, C. and Muscato, G. (2017). A Global Path Planning Strategy for a UGV from Aerial Elevation Maps for Disaster Response. In Proceedings of the 9th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART; ISBN 978-989-758-219-6; ISSN 2184-433X, SciTePress, pages 335-342. DOI: 10.5220/0006298303350342

@conference{icaart17,
author={D. C. Guastella. and L. Cantelli. and C. D. Melita. and G. Muscato.},
title={A Global Path Planning Strategy for a UGV from Aerial Elevation Maps for Disaster Response},
booktitle={Proceedings of the 9th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART},
year={2017},
pages={335-342},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006298303350342},
isbn={978-989-758-219-6},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART
TI - A Global Path Planning Strategy for a UGV from Aerial Elevation Maps for Disaster Response
SN - 978-989-758-219-6
IS - 2184-433X
AU - Guastella, D.
AU - Cantelli, L.
AU - Melita, C.
AU - Muscato, G.
PY - 2017
SP - 335
EP - 342
DO - 10.5220/0006298303350342
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic