A comprehensive survey of unmanned ground vehicle terrain traversability for unstructured environments and sensor technology insights

Beycimen, Semih; Ignatyev, Dmitry; Zolotas, Argyrios

doi:10.1016/j.jestch.2023.101457

Engineering Science and Technology, an International Journal

2023

DOI: 10.1016/j.jestch.2023.101457

|View full text |Cite

A comprehensive survey of unmanned ground vehicle terrain traversability for unstructured environments and sensor technology insights

Semih Beycimen,

Dmitry Ignatyev,

Argyrios Zolotas

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2024

Publication Types

Select...

Article3

Relationship

Self Cite0

Independent3

Authors

Journals

Cited by 3 publications

References 87 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Overview of Terrain Traversability Evaluation for Autonomous Robots

Shu,

Dong,

Liu

et al. 2024

Journal of Field Robotics

View full text Add to dashboard Cite

Traversability evaluation is the foundation and core of unmanned platforms for scene understanding and autonomous navigation, whose successful completion relies on the analysis of the platform's characteristics and the semantic and geometric features of the surrounding environment. This topic has been reviewed by many literatures, which are characterized by a single perspective and lack comprehensive evaluation frameworks. Thus, the concept and developmental trajectory of traversability evaluation are initially outlined in this paper, distinguishing it from other issues, while constructing an evaluation framework based on two categories: direct assessment and downstream task assessment. Subsequently, traversability evaluation methods are classified based on multiple dimensions, including sensor types, robot types, usage scenarios, and learning approaches. On the basis of the constructed evaluation framework, comparisons are made among existing algorithms in terms of performance and runtime. Subsequently, a summary is provided on commonly used features and their mainstream computation methods in terrain evaluation. Additionally, open‐source data sets in this field and projects for scene construction and algorithm validation are compiled and organized. Finally, an analysis is conducted on the development direction and trends, emphasizing the urgent need to establish standardized evaluation systems and comparison baselines. Furthermore, it is imperative that various environmental and platform information be comprehensively integrated into algorithms, while also ensuring that simulation, demonstration, and exploration are incorporated into a unified framework to enhance the robot's learning capability.

show abstract

Overview of Terrain Traversability Evaluation for Autonomous Robots

Shu,

Dong,

Liu

et al. 2024

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots

Lim,

Oh,

Lee

et al. 2024

Int. J. Control Autom. Syst.

View full text Add to dashboard Cite

A Systematic Review of Cutting-Edge Radar Technologies: Applications for Unmanned Ground Vehicles (UGVs)

Ersü,

Petlenkov,

Janson

2024

Sensors

View full text Add to dashboard Cite

This systematic review evaluates the integration of advanced radar technologies into unmanned ground vehicles (UGVs), focusing on their role in enhancing autonomy in defense, transportation, and exploration. A comprehensive search across IEEE Xplore, Google Scholar, arXiv, and Scopus identified relevant studies from 2007 to 2024. The studies were screened, and 54 were selected for full analysis based on inclusion criteria. The review details advancements in radar perception, machine learning integration, and sensor fusion while also discussing the challenges of radar deployment in complex environments. The findings reveal both the potential and limitations of radar technology in UGVs, particularly in adverse weather and unstructured terrains. The implications for practice, policy, and future research are outlined.

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

customersupport@researchsolutions.com

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

A comprehensive survey of unmanned ground vehicle terrain traversability for unstructured environments and sensor technology insights

Cited by 3 publications

References 87 publications

Overview of Terrain Traversability Evaluation for Autonomous Robots

Overview of Terrain Traversability Evaluation for Autonomous Robots

Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots

A Systematic Review of Cutting-Edge Radar Technologies: Applications for Unmanned Ground Vehicles (UGVs)

Contact Info

Product

Resources

About