Title:
Terrain-Based Navigation of Planetary Rovers: A Fuzzy Logic Approach

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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 2011-04-08T18:58:31Z
dc.date.available 2011-04-08T18:58:31Z
dc.date.issued 2001-06
dc.description Presented at the 6th International Symposium on Artificial Intelligence and Robotics and Automation in Space: i-SAIRAS 2001, Canadian Space Agency, St-Hubert, Quebec, Canada, June 18-22, 2001. en_US
dc.description.abstract This paper presents a new strategy for autonomous navigation of eld mobile robots on hazardous natural terrain using a fuzzy logic approach and a novel mea- sure of terrain traversability. The navigation strategy is comprised of three simple, independent behaviors: seek-goal, traverse-terrain, and avoid-obstacle. The recommendations from these three behaviors are com- bined through appropriate weighting factors to gen- erate the nal steering and speed commands that are executed by the robot. The weighting factors are pro- duced by fuzzy logic rules that take into account the current status of the robot. This navigation strategy requires no a priori information about the environ- ment, 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 AT 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, “Terrain-Based Navigation of Planetary Rovers: A Fuzzy Logic Approach,” 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-Sairas), Montreal, Canada, June 2001.  en_US
dc.identifier.uri http://hdl.handle.net/1853/38465
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Canadian Space Agency en_US
dc.subject Fuzzy logic en_US
dc.subject Fuzzy robot navigation systems en_US
dc.subject Natural terrains en_US
dc.subject Onboard traversability analysis en_US
dc.title Terrain-Based Navigation of Planetary Rovers: A Fuzzy Logic Approach 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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