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Terrain-based robot navigation using multi-scale traversability indices

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1 Author(s)
Seraji, H. ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

The concepts of local, regional, and global traversability indices have been introduced by the author (1999, 2000, 2001). These indices represent the suitability of a terrain for traversal by a mobile robot at different scales of resolution. This paper utilizes these indices to develop a navigation strategy for a mobile robot traversing a challenging terrain. The traversability indices form the basis of three navigational behaviors; namely, traverse-local, traverse-regional, and traverse-global behaviors. These behaviors are blended with the seek-goal behavior to ensure that the mobile robot reaches the goal safety while avoiding obstacles and impassable terrain segments. The paper is concluded by an illustrative graphical simulation study

Published in:

Fuzzy Systems, 2001. The 10th IEEE International Conference on  (Volume:3 )

Date of Conference:

2001