Proceedings of the 2nd International Conference on Advances in Computer Science and Engineering (CSE 2013)

Rough Terrain Perception Through Geometric Entities for Robot Navigation

Authors
Roberto Valencia-Murillo, Nancy Arana-Daniel, Carlos López-Franco, Alma Y. Alanís
Corresponding Author
Roberto Valencia-Murillo
Available Online July 2013.
DOI
https://doi.org/10.2991/cse.2013.69How to use a DOI?
Keywords
Autonomous Navigation; Mobile Robots; Conformal Geometric Algebra; Learning From Demonstration
Abstract
This paper presents the implementation of a non-linear geometric cost function to be used with a learning to search algorithm (LEARCH) to robot navigation in rough terrains. The non-linear function introduced is a neural network trained with geometric entities as inputs (points, lines, spheres, planes). These inputs were codified using the Conformal Geometric Algebra framework in order to describe the features of the rough environment where the robot is going to navigate. The geometric entities contain implicitly more information about rough terrain that simple features obtained with image edge-detectors, furthermore by using them as descriptors, the dimension of the feature space is greatly reduced with regard to the dimension of features obtained with sophisticated feature detectors as SIFT or SURF. The advantages of using geometric entities with LEARCH algorithm are shown in the experimental results section of this paper.
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This is an open access article distributed under the CC BY-NC license.

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Proceedings
2nd International Conference on Advances in Computer Science and Engineering (CSE 2013)
Part of series
Advances in Intelligent Systems Research
Publication Date
July 2013
ISBN
978-90786-77-70-3
ISSN
1951-6851
DOI
https://doi.org/10.2991/cse.2013.69How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Roberto Valencia-Murillo
AU  - Nancy Arana-Daniel
AU  - Carlos López-Franco
AU  - Alma Y. Alanís
PY  - 2013/07
DA  - 2013/07
TI  - Rough Terrain Perception Through Geometric Entities for Robot Navigation
BT  - 2nd International Conference on Advances in Computer Science and Engineering (CSE 2013)
PB  - Atlantis Press
SN  - 1951-6851
UR  - https://doi.org/10.2991/cse.2013.69
DO  - https://doi.org/10.2991/cse.2013.69
ID  - Valencia-Murillo2013/07
ER  -