Autonomous Trail Following

Masoud Hoveidar-Sefid; Michael Jenkin

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Paper

Autonomous Trail Following

Topics: Autonomous Agents; Guidance, Navigation and Control; Image Processing; Mobile Robots and Autonomous Systems

In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 425-430, 2017 , Madrid, Spain

Authors: Masoud Hoveidar-Sefid and Michael Jenkin

Affiliation: York University, Canada

Keyword(s): Autonomous Navigation, Trail Following, Path Finding.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Image Processing ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: Following off-road trails is somewhat more complex than following man-made roads. Trails are unstructured and typically lack standard markers that characterize roadways. Nevertheless, trails can provide an effective set of pathways for off-road navigation. Here we approach the problem of trail following by identifying trail-like regions; that is regions that are locally planar, contiguous with the robot’s current plane and which appear similar to the region in front of the robot. A multi-dimensional representation of the trail ahead is obtained by fusing information from an omnidirectional camera and a 3D LIDAR. A k-means clustering approach is taken based on this multi-dimensional signal to identify and follow off-road trails. This information is then used to compute appropriate steering commands for vehicle motion. Results are presented for over 1500 frames of video and laser scans of trails.

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Paper citation in several formats:

Hoveidar-Sefid, M. and Jenkin, M. (2017). Autonomous Trail Following. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-264-6; ISSN 2184-2809, SciTePress, pages 425-430. DOI: 10.5220/0006468404250430

@conference{icinco17,
author={Masoud Hoveidar{-}Sefid. and Michael Jenkin.},
title={Autonomous Trail Following},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2017},
pages={425-430},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006468404250430},
isbn={978-989-758-264-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Autonomous Trail Following
SN - 978-989-758-264-6
IS - 2184-2809
AU - Hoveidar-Sefid, M.
AU - Jenkin, M.
PY - 2017
SP - 425
EP - 430
DO - 10.5220/0006468404250430
PB - SciTePress