Augmented Vector Field Navigation Cost Mapping using Inertial Sensors

In outdoor field robotics, considering the environmental characteristics is key to improving the efficiency of autonomous navigation. In this context, identifying rough terrain can significantly increase the reliability of operations. This paper addresses the problem of mapping the navigation cost associated with uneven outdoor terrains. We propose an augmented vector field representation obtained only with the use of inertial sensors. The map is determined considering characteristics such as roughness and slope. Experiments were carried out with different robots in real-world environments presenting different terrain characteristics to analyze the quality and efficiency of the mapping process. Results show that the obtained navigation cost maps provide a reliable indication of the ground characteristics of outdoor environments and can be used in the path planning stage.