A fuzzy logic framework for onboard terrain analysis and guidance towards traversable regions. An onboard terrain-based navigation system for mobile robots operating on natural terrain is presented. This system utilizes a fuzzy-logic framework for onboard analysis of the terrain and develops a set of fuzzy navigation rules that guide the rover toward the safest and the most traversable regions. The overall navigation strategy deals with uncertain knowledge about the environment and uses the onboard terrain analysis to enable the rover to select easy-to-traverse paths to the goal autonomously. The navigation system is tested and validated with a set of physical rover experiments and demonstrates the autonomous capability of the system.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An intelligent terrain-based navigation system for planetary rovers


    Contributors:
    Howard, A. (author) / Seraji, H. (author)

    Published in:

    Publication date :

    2001


    Size :

    9 Seiten, 7 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Terrain Adaptive Navigation for Mars Rovers

    Matthies, Larry H. / Helmick, Daniel M. / Angelova, Anelia et al. | NTRS | 2007


    Terrain Adaptive Navigation for Mars Rovers

    Helmick, Daniel M. / Angelova, Anelia / Livianu, Matthew et al. | IEEE | 2007


    Vibration-based terrain classification for planetary exploration rovers

    Brooks, C.A. / Iagnemma, K. | Tema Archive | 2005


    Visual, tactile, and vibration-based terrain analysis for planetary rovers

    Legnemma, K. / Brooks, C. / Dubowsky, S. | IEEE | 2004


    Autonomous Navigation of Rovers for Planetary Exploration

    Schilling, K. / International Federation of Automatic Control | British Library Conference Proceedings | 1999