Free Space Identification for Agoraphilic Algorithm in Uneven Terrain Environment
W. M. D. R. Gunathilaka, Gayan C. Kahandawa, M. Yousef Ibrahim, Hasitha Sanjeewa Hewawasam, Linh V. Nguyen · 2024
Navigating robots through challenging terrains requires innovative path-planning strategies. This research presents a pioneering approach to identify free spaces in uneven terrains. It is specifically designed for integration into the Agoraphilic algorithm. Addressing the limitations of conventional 2D plane methods, the methodology incorporates terrain properties and robot-specific parameters. Our study involves the conversion of 3D terrain data into a robot-centric square grid map, facilitating the identification of terrain properties along the robot’s traversability path. Additionally, we introduce a novel free space index module to index free spaces and generate a histogram of free space distribution. Experimental results showcase the methodology’s versatility across diverse scenarios, making it applicable in the Agoraphilic algorithm for terrain navigation.