垂直に険しい地形における車輪移動の実現：プラットフォーム、データセット、アルゴリズム
Toward Wheeled Mobility on Vertically Challenging Terrain: Platforms, Datasets, and Algorithms
従来の車輪ロボットでは移動不可能とされてきた垂直に険しい不整地を走破するため、2種類の車輪プラットフォームを提案し、走行データセットを収集、データ駆動型移動アルゴリズムを開発した。
著者: Aniket Datar, Chenhui Pan, Mohammad Nazeri, Xuesu Xiao
分類: cs.RO
原文アブストラクト
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world, extremely rugged, off-road environments, where part of the terrain (e.g., irregular boulders and fallen trees) will be treated as non-traversable obstacles. To improve wheeled mobility in those environments with vertically challenging terrain, we present two wheeled platforms with little hardware modification compared to conventional wheeled robots; we collect datasets of our wheeled robots crawling over previously non-traversable, vertically challenging terrain to facilitate data-driven mobility; we also present algorithms and their experimental results to show that conventional wheeled robots have previously unrealized potential of moving through vertically challenging terrain. We make our platforms, datasets, and algorithms publicly available to facilitate future research on wheeled mobility.
