Title:
Safe Navigation on Hazardous Terrain

dc.contributor.author Seraji, Homayoun en_US
dc.contributor.author Howard, Ayanna M. en_US
dc.contributor.author Tunstel, Edward en_US
dc.contributor.corporatename Jet Propulsion Laboratory (U.S.) en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-03-29T16:58:09Z
dc.date.available 2011-03-29T16:58:09Z
dc.date.issued 2001-05
dc.description ©2001 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26, 2001. en_US
dc.description DOI: 10.1109/ROBOT.2001.933091 en_US
dc.description.abstract This paper presents a new strategy for autonomous navigation of field mobile robots on hazardous natural terrain using a fuzzy logic approach and a measure of terrain traversability. The navigation strategy comprises three simple, independent behaviors: seek-goal, traverse-terrain, and avoid-obstacle. The recommendations from these three behaviors are combined through appropriate weighting factors to generate the final steering and speed commands that are executed by the robot. The weighting factors are produced by fuzzy logic rules that take into account the current status of the robot. This navigation strategy requires no a priori information about the environment, and uses the on-board traversability analysis to enable the robot to select relatively easy-to-traverse paths autonomously. Field test results obtained from implementation of the proposed algorithms on the commercial Pioneer All Terrain rover are presented. These results demonstrate the real-time capabilities of the terrain assessment and fuzzy logic navigation algorithms. en_US
dc.identifier.citation H. Seraji, A. Howard, E. Tunstel, “Safe Navigation on Hazardous Terrain,” IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, May 2001, Vol. 3, 3084-3091. en_US
dc.identifier.doi 10.1109/ROBOT.2001.933091
dc.identifier.isbn 0-7803-6576-3
dc.identifier.issn 1050-4729
dc.identifier.uri http://hdl.handle.net/1853/38321
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US
dc.subject Pioneer all terrain rover en_US
dc.subject Robot navigation en_US
dc.subject Mobile robots en_US
dc.subject Safe navigation en_US
dc.subject Speed commands en_US
dc.subject Steering commands en_US
dc.subject Terrain assessment en_US
dc.subject Terrain classification en_US
dc.title Safe Navigation on Hazardous Terrain en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Howard, Ayanna M.
local.contributor.corporatename School of Civil and Environmental Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
relation.isAuthorOfPublication 6d77e175-105c-4b0b-9548-31f20e60e20a
relation.isOrgUnitOfPublication 88639fad-d3ae-4867-9e7a-7c9e6d2ecc7c
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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