• Login
    View Item 
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Human-Automation Systems Lab (HumAns)
    • View Item
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Human-Automation Systems Lab (HumAns)
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    A Rule-Based Fuzzy Traversability Index for Mobile Robot Navigation

    Thumbnail
    View/Open
    IEEE_2001_ICRA_001.pdf (458.5Kb)
    Date
    2001-05
    Author
    Howard, Ayanna M.
    Seraji, Homayoun
    Tunstel, Edward
    Metadata
    Show full item record
    Abstract
    This paper presents a rule-based fuzzy traversability index that quantifies the ease-of-traversal of a terrain by a mobile robot based on real-time measurements of terrain characteristics retrieved from imagery data. These characteristics include, but are not limited to slope, roughness, hardness, and discontinuity. The proposed representation of terrain traversability incorporates an intuitive, linguistic approach for expressing terrain characteristics that is robust with respect to imprecision and uncertainty in the terrain measurements. The terrain assessment method is tested and validated with a set of real-world imagery data. These tests demonstrate the capability of the terrain classification algorithm for perceiving hazards associated with terrain traversal.
    URI
    http://hdl.handle.net/1853/38304
    Collections
    • Human-Automation Systems Lab (HumAns) [153]
    • Human-Automation Systems Lab HumAns Publications [153]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    • About
    • Terms of Use
    • Contact Us
    • Emergency Information
    • Legal & Privacy Information
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    • Login
    Georgia Tech

    © Georgia Institute of Technology

    • About
    • Terms of Use
    • Contact Us
    • Emergency Information
    • Legal & Privacy Information
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    • Login
    Georgia Tech

    © Georgia Institute of Technology