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An autonomous navigation approach for unmanned vehicle in off-road environment with self-supervised traversal cost prediction

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Abstract

This paper presents a self-supervised learning-based terrain traversal cost prediction method that addresses different orientations and velocities to aid autonomous navigation in off-road environments. First, a cost prediction network is proposed to implement a mapping of the local terrain information around a vehicle to the traversal cost. Second, we propose an automatic data collection and self-labelling algorithm to achieve self-supervised learning for this network. Third, we proposed a map-free navigation strategy aimed at the terrain obstacles. This strategy incorporates the traversal cost prediction into a sampling-based trajectory planner, enabling the consideration of traversal orientation and velocity when estimating the traversal cost. Finally, both the proposed prediction method and the navigation strategy are extensively compared. The results show that our proposed traversability estimation method outperforms existing methods using convolutional neural networks (CNNs). Simultaneously, in both simulation and real-world experiments, our approach exhibits effective and safe autonomous navigation capabilities in off-road environments.

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Acknowledgements

This paper was supported by the Major Program of National Natural Science Foundation of China under Grant No. 61690214, Shanghai Science and Technology Action Plan under Grant No.18DZ1204000, 18510745500, 18510750100, 18510730600, Shanghai Aerospace Science and Technology Innovation Fund (SAST) under Grant No. 2019-080, 2019-116 and the Natural Science Fund of China (NSFC) under Grant No.51575186 the National Defense Basic Scientific Research Program of China (Grant No. JCKY2021606B002).

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Authors and Affiliations

  1. School of Mechanical and Power Engineering, East China University of Science and Technology, No.130, Meilong Road, Shanghai, 200237, Shanghai, China

    Bo Zhou, Jianjun Yi, Xinke Zhang & LianSheng Wang

  2. Department, Aerospace System Engineering Shanghai, No.1777, Zhongchun Road, Shanghai, 201108, Shanghai, China

    Sizhe Zhang & Bin Wu

Authors
  1. Bo Zhou

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  2. Jianjun Yi

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  3. Xinke Zhang

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  4. LianSheng Wang

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  5. Sizhe Zhang

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  6. Bin Wu

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Contributions

Bo Zhou : Conceptualization of this study, Methodology, Software, Writing - Original draft preparation. JiangJun Yi: Review. Xinke Zhang: Software, Experiments. LianSheng Wang: Real-world experiments, Hardware preparation. Sizhe Zhang: Real-world experiments. Bin Wu: Review and Editing.

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Correspondence toJianjun Yi.

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Zhou, B., Yi, J., Zhang, X.et al. An autonomous navigation approach for unmanned vehicle in off-road environment with self-supervised traversal cost prediction.Appl Intell53, 20091–20109 (2023). https://doi.org/10.1007/s10489-023-04518-3

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