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.


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    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




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