Software for Analyzing Traversability of Terrain

Grid-Based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) is a software library that helps a robotic wheeled vehicle choose a safe path across nearby terrain. The input to GESTALT consists mainly of three-dimensional range measurements of the nearby terrain taken by sensors (e.g., stereoscopic cameras or a laser scanner) aboard the robot as it moves along. GESTALT groups the data into grid cells, then geometrically evaluates the cells as separate planar patches, identifying such impediments to traversability as steps, steep slopes, and excessive roughness. Both straight and curved paths from present position of the robot can be evaluated. The safest path that helps the rover move toward its goal is selected. The resulting path evaluations can be used to steer the robot.