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Mapping rugged terrain for a walking robot

  • Section 7: Sensing And Perception
  • Conference paper
  • First Online:
Experimental Robotics II

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

  • 123 Accesses

Abstract

This paper briefly reports on progress in the design and performance of a mapping system that uses laser rangefinder input to construct elevation maps of rugged, natural terrain. The paper emphasizes performance; the rationale for the design is presented elsewhere. The performance of two rangefinders is considered, and found to be the most significant limitation on the constructed maps. In addition, the accuracy and precision of the maps are quantified.

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References

  1. M. Hebert, E. Krotkov, and T. Kanade. A Perception System for a Planetary Explorer. In Proc. IEEE Conf. on Decision and Control, pages 1151–1156, Tampa, Florida, December 1989.

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  2. E. Krotkov. Mobile Robot Localization Using a Single Image. In Proc. IEEE Intl. Conf. Robotics and Automation, pages 978–983, Scottsdale, Arizona, May 1989.

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  3. E. Krotkov. Laser Rangefinder Calibration for a Walking Robot. In Proc. IEEE Intl. Conf. Robotics and Automation, pages 2568–2573, Sacramento, California, April 1991.

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  4. E. Krotkov, J. Bares, M. Hebert, T. Kanade, T. Mitchell, R. Simmons, and W. Whittaker. Ambler: A Legged Planetary Rover. 1990 Annual Research Review, The Robotics Institute, Carnegie Mellon University, pages 11–23, 1991.

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  5. I. Kweon, R. Hoffman, and E. Krotkov. Experimental Characterization of the Perceptron Laser Rangefinder. Technical Report CMU-RI-TR-91-1, Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, January 1991.

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  6. R. Simmons and E. Krotkov. An Integrated Walking System for the Ambler Planetary Rover. In Proc. IEEE Intl. Conf. Robotics and Automation, pages 2086–2091, Sacramento, California, April 1991.

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Author information

Authors and Affiliations

  1. Robotics Institute, Carnegie Mellon University, 15213, Pittsburgh, PA, USA

    Eric Krotkov

Authors
  1. Eric Krotkov
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Editor information

Raja Chatila Gerd Hirzinger

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© 1993 Springer-Verlag London Limited

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Krotkov, E. (1993). Mapping rugged terrain for a walking robot. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036151

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  • DOI: https://doi.org/10.1007/BFb0036151

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

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