Enhancing fuzzy robot navigation systems by mimicking human visual perception of natural terrain traversability

Author

Howard, Ayanna ; Tunstel, Edward ; Edwards, Dean ; Carlson, Alan

Author_Institution

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

Volume

1

fYear

2001

fDate

25-28 July 2001

Firstpage

7

Abstract

The paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data. The methodology utilizes a fuzzy logic framework and vision algorithms for analysis of the terrain. The terrain assessment and learning methodology is tested and validated with a set of real world image data acquired by an onboard vision system

Keywords

computerised navigation; feature extraction; fuzzy control; fuzzy logic; learning (artificial intelligence); mobile robots; real-time systems; robot vision; fuzzy logic framework; fuzzy robot navigation systems enhancement; human visual perception mimicking; human-embedded logic; image data; learning methodology; natural terrain traversability; onboard vision system; outdoor mobile robot navigation; real world image data; real-time perception; terrain assessment; terrain feature extraction; vision algorithms; Algorithm design and analysis; Data mining; Feature extraction; Fuzzy logic; Fuzzy systems; Humans; Machine vision; Mobile robots; Navigation; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

IFSA World Congress and 20th NAFIPS International Conference, 2001. Joint 9th

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-7078-3

Type

conf

DOI

10.1109/NAFIPS.2001.944218

Filename

944218