外观
论文arXiv 2608.260502 个月前
当障碍物弯曲时：田间机器人背景下的植被变形建模
原文链接：When Obstacles Bend: Modeling Vegetation Deformation in the context of Field Robotics（arXiv 2608.26050 · 发布日期：2026-08-26）
When Obstacles Bend: Modeling Vegetation Deformation in the context of Field Robotics
针对自然环境机器人穿越植被的可通行性表征难迁移问题，提出用变形与接触力估计植被机械参数并重建交互响应。
核心要点
- 现有从机器人视角定义可通行性，会与平台动力学耦合，难以跨平台迁移。
- 方法以植被固有机械属性表征环境，避免依赖特定机器人平台指标。
- 结合变形测量和接触力数据，估计机械参数并重建植被交互响应。
- 摘要称该表征可支持基于环境固有属性的植被感知导航，未给出定量结果。
验证范围与局限：摘要未说明仿真或真机验证范围、任务类型及平台数量。
英文摘要 (Abstract)
Autonomous robots operating in natural environments must often interact with vegetation rather than simply avoid it. In this context, traversability is typically defined from the robot's perspective, by measuring how a specific platform responds when moving through the environment. While practical, this viewpoint entangles the assessment of the environment with the robot's own dynamics, making the resulting characterization difficult to transfer across different platforms. More importantly, it does not directly reflect the properties of the vegetation itself, which are the true source of interaction and potential damage in applications such as agriculture and environmental monitoring. To address this limitation, we propose to characterize vegetation through its intrinsic mechanical properties, independently of any specific robot. By combining deformation measurements with contact force data, we estimate the underlying mechanical parameters and reconstruct the vegetation's response to interaction. This enables vegetation-aware navigation based on intrinsic environmental properties rather than platform-dependent metrics.
作者：Zaar Khizar, Tom Montagnon, Roland Lenain, Romuald Aufrère, Johann Laconte
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