A rule-based fuzzy traversability index for mobile robot navigation

Author

Howard, Ayanna ; Seraji, Homayoun ; Tunstel, Edward

Author_Institution

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

Volume

3

fYear

2001

fDate

2001

Firstpage

3067

Abstract

This paper presents a rule-based fuzzy traversability index that quantifies the ease-of-traversal of a terrain by a mobile robot based on real-time measurements of terrain characteristics retrieved from imagery data. These characteristics include, but are not limited to slope, roughness, hardness, and discontinuity. The proposed representation of terrain traversability incorporates an intuitive, linguistic approach for expressing terrain characteristics that is robust with respect to imprecision and uncertainty in the terrain measurements. The terrain assessment method is tested and validated with a set of real-world imagery data. These tests demonstrate the capability of the terrain classification algorithm for perceiving hazards associated with terrain traversal.

Keywords

computer vision; fuzzy control; fuzzy logic; knowledge based systems; mobile robots; navigation; real-time systems; fuzzy logic; fuzzy traversability index; mobile robot; navigation; real-time systems; rule-based system; terrain assessment; terrain classification; Aircraft navigation; Extraterrestrial measurements; Intelligent robots; Laboratories; Mobile robots; Propulsion; Robustness; Rough surfaces; Surface roughness; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933088

Filename

933088