Autonomous navigation of a surveillance robot in harsh outdoor road environments

Youjin Shin, Donghyeon Kim, Hyunsuk Lee, Jooyoung Park, Woo Jin Chung

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.

Original languageEnglish
Article number837484
JournalAdvances in Mechanical Engineering
Volume2013
DOIs
Publication statusPublished - 2013 Oct 7

Fingerprint

Navigation
Robots
Curbs
Range finders
Mobile robots
Costs
Robotics
Crude oil
Lasers
Sensors

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Autonomous navigation of a surveillance robot in harsh outdoor road environments. / Shin, Youjin; Kim, Donghyeon; Lee, Hyunsuk; Park, Jooyoung; Chung, Woo Jin.

In: Advances in Mechanical Engineering, Vol. 2013, 837484, 07.10.2013.

Research output: Contribution to journalArticle

Shin, Youjin ; Kim, Donghyeon ; Lee, Hyunsuk ; Park, Jooyoung ; Chung, Woo Jin. / Autonomous navigation of a surveillance robot in harsh outdoor road environments. In: Advances in Mechanical Engineering. 2013 ; Vol. 2013.
@article{f1564c907b7649ee8eb9d69fdecdda83,
title = "Autonomous navigation of a surveillance robot in harsh outdoor road environments",
abstract = "This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.",
author = "Youjin Shin and Donghyeon Kim and Hyunsuk Lee and Jooyoung Park and Chung, {Woo Jin}",
year = "2013",
month = "10",
day = "7",
doi = "10.1155/2013/837484",
language = "English",
volume = "2013",
journal = "Advances in Mechanical Engineering",
issn = "1687-8132",
publisher = "Hindawi Publishing Corporation",

}

TY - JOUR

T1 - Autonomous navigation of a surveillance robot in harsh outdoor road environments

AU - Shin, Youjin

AU - Kim, Donghyeon

AU - Lee, Hyunsuk

AU - Park, Jooyoung

AU - Chung, Woo Jin

PY - 2013/10/7

Y1 - 2013/10/7

N2 - This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.

AB - This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.

UR - http://www.scopus.com/inward/record.url?scp=84884847339&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84884847339&partnerID=8YFLogxK

U2 - 10.1155/2013/837484

DO - 10.1155/2013/837484

M3 - Article

AN - SCOPUS:84884847339

VL - 2013

JO - Advances in Mechanical Engineering

JF - Advances in Mechanical Engineering

SN - 1687-8132

M1 - 837484

ER -