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Autonomous Trail Following

Following off-road trails is somewhat more complex than following man-made roads. Trails are unstructured and typically lack standard markers that characterize roadways. Nevertheless, trails can provide an effective set of pathways for off-road navigation. Here we approach the problem of trail following by identifying traillike regions; that is regions that are locally planar, contiguous with the robot’s current plane and which appear similar to the region in front of the robot. A multi-dimensional representation of the trail ahead is obtained by fusing information from an omnidirectional camera and a 3D LIDAR. A k-means clustering approach is taken based on this multi-dimensional signal to identify and follow off-road trails. This information is then used to compute appropriate steering commands for vehicle motion. Results are presented for over 1500 frames of video and laser scans of trails.