Local Path Planning along Bush Tracks using Vision
نویسندگان
چکیده
This paper investigates the problem of autonomous mobile robot navigation in bush environments. Such environments form part of the workspace of a number of groups, such as rural search-and-rescue and bush fire-fighting crews, who could greatly benefit from helper robots. In particular, given the existence of many tracks through bush areas, the ability to autonomously drive along such tracks would help ensure robot safety and efficiency of travel, as a track by definition represents a passageway with a high likelihood of being clear. The novelty of the work presented comes from the sole use of passive vision to find obstacles and locate tracks, allowing a safe local path to be determined.
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