An improved method of processing information for autonomous navigation of a robotic vehicle across rough terrain involves the integration of terrain maps into a reactive navigation strategy. Somewhat more precisely, the method involves the incorporation, into navigation logic, of data equivalent to regional traversability maps. The terrain characteristic is mapped using a fuzzy-logic representation of the difficulty of traversing the terrain. The method is robust in that it integrates a global path-planning strategy with sensor-based regional and local navigation strategies to ensure a high probability of success in reaching a destination and avoiding obstacles along the way. The sensor-based strategies use cameras aboard the vehicle to observe the regional terrain, defined as the area of the terrain that covers the immediate vicinity near the vehicle to a specified distance a few meters away.


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    Titel :

    Integrating Terrain Maps Into a Reactive Navigation Strategy


    Beteiligte:
    Howard, Ayanna (Autor:in) / Werger, Barry (Autor:in) / Seraji, Homayoun (Autor:in)


    Erscheinungsdatum :

    01.06.2006


    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch





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