Fuzzy terrain-based path planning for planetary rovers

Author

Howard, Ayanna ; Seraji, Homayonn ; Werger, Barry

Author_Institution

NASA-Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

Volume

1

fYear

2002

fDate

6/24/1905 12:00:00 AM

Firstpage

316

Lastpage

320

Abstract

Presents a fuzzy terrain-based path planning method for planetary rovers operating on rough natural terrain. The focus of this approach is on planning an optimally safe path of minimum traversal cost, which is calculated from linguistic descriptors of terrain traversability. The method incorporates the traversability map, a fuzzy map representation of traversal difficulty of the terrain, into the path planning logic. The search methodology uses a traversal cost function that is derived directly from this traversability map. The path planning method is developed in detail and experimental results are presented

Keywords

digital simulation; fuzzy logic; graphical user interfaces; mobile robots; path planning; planetary rovers; robot vision; fuzzy map representation; fuzzy terrain-based path planning; linguistic descriptors; minimum traversal cost; optimal safe path; path planning logic; planetary rovers; rough natural terrain; terrain traversability; traversability map; traversal cost function; traversal difficulty; Cost function; Fuzzy logic; Laboratories; Mobile robots; Navigation; Path planning; Process planning; Propulsion; Robot sensing systems; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2002. FUZZ-IEEE'02. Proceedings of the 2002 IEEE International Conference on

Conference_Location

Honolulu, HI

Print_ISBN

0-7803-7280-8

Type

conf

DOI

10.1109/FUZZ.2002.1005008

Filename

1005008