Title:
Enhancing Fuzzy Robot Navigation Systems by Mimicking Human Visual Perception of Natural Terrain Traversability
Enhancing Fuzzy Robot Navigation Systems by Mimicking Human Visual Perception of Natural Terrain Traversability
Author(s)
Howard, Ayanna M.
Tunstel, Edward
Edwards, Dean
Carlson, Alan
Tunstel, Edward
Edwards, Dean
Carlson, Alan
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Abstract
This 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 realworld image data acquired by an onboard vision system.
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Date Issued
2001-07
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Text
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Proceedings