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Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain

Kurzanzeige
dc.contributor.authorBraun, T.
dc.date.accessioned2018-01-08T09:15:04Z
dc.date.available2018-01-08T09:15:04Z
dc.date.issued2011
dc.description.abstractThe thesis “Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain” proposes a global robot navigation concept for rugged off-road terrain which is robust against inaccurate self-localization and scalable to large environments, but also cost-conscious, e.g. able to generate navigation paths which optimize a cost measure closely related to terrain traversability. The thesis contributes a set of new techniques to integrate cost-consciousness into a primarily topological navigation scheme. Also, novel methods to learn and optimize cost estimates from experience are developed.
dc.identifier.pissn1610-1987
dc.identifier.urihttps://dl.gi.de/handle/20.500.12116/11209
dc.publisherSpringer
dc.relation.ispartofKI - Künstliche Intelligenz: Vol. 25, No. 2
dc.relation.ispartofseriesKI - Künstliche Intelligenz
dc.subjectRobot navigation
dc.subjectTopological map
dc.subjectTraversability cost learning
dc.titleCost-Efficient Global Robot Navigation in Rugged Off-Road Terrain
dc.typeText/Journal Article
gi.citation.endPage177
gi.citation.startPage173

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Künstliche Intelligenz 25(2) - Mai 2011