Abstract
Outdoor mobile robots currently treat vegetation as obstacles that need to be avoided. In order to have less conservative robots that fully exploit their motion capabilities, it is required to obtain models of the interaction of vegetation with the vehicle. This work proposes and experimentally verifies models of interaction of wheeled and tracked vehicles with pliable vegetation. In addition, a methodology to map perceptual features of the environment to resistive forces experienced by the robots is presented.
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Acknowledgements
This work was supported by the collaborative participation in the Robotics Consortium sponsored by the U.S. Army Research Laboratory under the Collaborative Technology Alliance Program, Cooperative Agreement DAAD 19-01-2-0012. The U.S. Government is authorized to reproduce and distribute reprints for Government purposes not withstanding any copyright notation there on.
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Ordonez, C. et al. (2020). Characterization and Traversal of Pliable Vegetation for Robot Navigation. In: Xiao, J., Kröger, T., Khatib, O. (eds) Proceedings of the 2018 International Symposium on Experimental Robotics. ISER 2018. Springer Proceedings in Advanced Robotics, vol 11. Springer, Cham. https://doi.org/10.1007/978-3-030-33950-0_26
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