Global path planning based on rough terrain perception using growing neural gas

Haruka Ozaki; Yuichiro Toda; Dalin Zhou; Takayuki Matsuno

doi:10.1109/SCISISIS61014.2024.10760215

Global path planning based on rough terrain perception using growing neural gas

Haruka Ozaki
, Yuichiro Toda
, Dalin Zhou
, Takayuki Matsuno

Faculty of Technology

natural science and technology Okayama University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

65 Downloads (Pure)

Abstract

The development of autonomous mobile robots has been a persistent challenge, and their application in outdoor, rough terrain environments is especially beneficial. We propose a traversability perception method based on Growing Neural Gas with Different Topologise in the unknown rough terrain. Next, we propose a path planning method that utilizes the result of the traersability estimation. Finally, we conduct an experiment in a real environment to verify the effectiveness of the proposed method.

Original language	English
Title of host publication	2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS)
Publisher	IEEE/ IAPR
Number of pages	3
ISBN (Electronic)	9798350373332
ISBN (Print)	9798350373349
DOIs	https://doi.org/10.1109/SCISISIS61014.2024.10760215
Publication status	Published - 12 Nov 2024
Event	2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS) - Himeji, Japan Duration: 9 Nov 2024 → 12 Nov 2024

Conference

Conference	2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS)
Period	9/11/24 → 12/11/24

Keywords

Estimation
Path planning
Mobile robots
Autonomous robots

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10.1109/SCISISIS61014.2024.10760215

SCIS_ISIS
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Accepted author manuscript (Post-print), 1.05 MB

Cite this

@inproceedings{1f87433dec0b40e7bfc5abb71b179852,

title = "Global path planning based on rough terrain perception using growing neural gas",

abstract = "The development of autonomous mobile robots has been a persistent challenge, and their application in outdoor, rough terrain environments is especially beneficial. We propose a traversability perception method based on Growing Neural Gas with Different Topologise in the unknown rough terrain. Next, we propose a path planning method that utilizes the result of the traersability estimation. Finally, we conduct an experiment in a real environment to verify the effectiveness of the proposed method.",

keywords = "Estimation, Path planning, Mobile robots, Autonomous robots",

author = "Haruka Ozaki and Yuichiro Toda and Dalin Zhou and Takayuki Matsuno",

note = "No ISSN; 2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS\&ISIS) ; Conference date: 09-11-2024 Through 12-11-2024",

year = "2024",

month = nov,

day = "12",

doi = "10.1109/SCISISIS61014.2024.10760215",

language = "English",

isbn = "9798350373349",

booktitle = "2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS\&ISIS)",

publisher = "IEEE/ IAPR",

}

Ozaki, H, Toda, Y, Zhou, D & Matsuno, T 2024, Global path planning based on rough terrain perception using growing neural gas. in 2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS). IEEE/ IAPR, 2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS), 9/11/24. https://doi.org/10.1109/SCISISIS61014.2024.10760215

Global path planning based on rough terrain perception using growing neural gas. / Ozaki, Haruka; Toda, Yuichiro; Zhou, Dalin et al.
2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS). IEEE/ IAPR, 2024.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Global path planning based on rough terrain perception using growing neural gas

AU - Ozaki, Haruka

AU - Toda, Yuichiro

AU - Zhou, Dalin

AU - Matsuno, Takayuki

N1 - No ISSN

PY - 2024/11/12

Y1 - 2024/11/12

N2 - The development of autonomous mobile robots has been a persistent challenge, and their application in outdoor, rough terrain environments is especially beneficial. We propose a traversability perception method based on Growing Neural Gas with Different Topologise in the unknown rough terrain. Next, we propose a path planning method that utilizes the result of the traersability estimation. Finally, we conduct an experiment in a real environment to verify the effectiveness of the proposed method.

AB - The development of autonomous mobile robots has been a persistent challenge, and their application in outdoor, rough terrain environments is especially beneficial. We propose a traversability perception method based on Growing Neural Gas with Different Topologise in the unknown rough terrain. Next, we propose a path planning method that utilizes the result of the traersability estimation. Finally, we conduct an experiment in a real environment to verify the effectiveness of the proposed method.

KW - Estimation

KW - Path planning

KW - Mobile robots

KW - Autonomous robots

UR - https://ieeexplore.ieee.org/document/10760215/

U2 - 10.1109/SCISISIS61014.2024.10760215

DO - 10.1109/SCISISIS61014.2024.10760215

M3 - Conference contribution

SN - 9798350373349

BT - 2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS)

PB - IEEE/ IAPR

T2 - 2024 Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS&ISIS)

Y2 - 9 November 2024 through 12 November 2024

ER -

Global path planning based on rough terrain perception using growing neural gas

Abstract

Conference

Keywords

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