%0 Journal Article
%T Terrain Mapping and Classification in Outdoor Environments Using Neural Networks
%A Alberto Yukinobu Hata
%A Denis Fernando Wolf
%A Gustavo Pessin
%A Fernando Os¨®rio
%J International Journal of u- and e- Service, Science and Technology
%D 2009
%I SERSC
%X This paper describes a three-dimensional terrain mapping and classification technique to allow the operation of mobile robots in outdoor environments using laser range finders. We propose the use of a multi-layer perceptron neural network to classify the terrain into navigable, partially navigable, and non-navigable. The maps generated by our approach can be used for path planning, navigation, and local obstacle avoidance. Experimental tests using an outdoor robot and a laser sensor demonstrate the accuracy of the presented methods.
%K Terrain and environment mapping
%K terrain segmentation
%K mobile robots
%K laser range finders
%U http://www.sersc.org/journals/IJUNESST/vol2_no4/5.pdf