Presents novel measures of terrain traversability at three different ranges, namely local, regional and global traversability indices. The local traversability index is related, by a set of linguistic rules, to local obstacles and surface softness within a local perception range, measured by on-board sensors mounted on a robot. The rule-based regional traversability index is computed from the terrain roughness and slope that are expected from video images of the terrain within a regional perception range obtained by on-board cameras. The global traversability index is obtained from a terrain topographic map, and is based on natural or man-made surface features, such as mountains and craters, within the global perception range. Each traversability index is represented by four fuzzy sets with linguistic labels (poor, low, moderate, high), corresponding to surfaces that are unsafe, moderately unsafe, moderately safe or safe for traversal, respectively. These indices are used to develop a behavior-based navigation strategy for a mobile robot traversing a challenging terrain. The traversability indices form a basis of three navigation behaviors, namely local, regional and global traversal behaviors. These behaviors are integrated with a goal-seeking behavior to ensure that the mobile robot reaches the goal safely while avoiding obstacles and impassable terrain segments. The paper concludes with an illustrative graphical simulation study.


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    Titel :

    Multi-range traversability indices for terrain-based navigation


    Beteiligte:
    Seraji, H. (Autor:in) / Bon, B. (Autor:in)


    Erscheinungsdatum :

    2002


    Format / Umfang :

    8 Seiten, 11 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch






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