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    Integrating Terrain Maps into a Reactive Navigation Strategy

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    IEEE_2003_ICRA.pdf (417.0Kb)
    Date
    2003-09
    Author
    Howard, Ayanna M.
    Werger, Barry
    Seraji, Homayoun
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    Abstract
    This paper presents a new method for integrating terrain maps into a reactive navigation strategy of field mobile robots operating on rough terrain. The method incorporates the Regional Traversability Map, a fuzzy map representation of traversal difficulty of the regional terrain, into the navigation logic. A map-based regional navigation behavior provides speed and direction recommendations based on the current status of the robot. In addition, recommendations from two sensor-based reactive behaviors, local avoid-obstacle and regional traverse-terrain, are fused with the map-based regional behavior to construct a comprehensive navigation system. The algorithms are tested both in graphical simulations and in the field using a commercial Pioneer 2AT robot to demonstrate traversal over rough natural terrain.
    URI
    http://hdl.handle.net/1853/38320
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    • Human-Automation Systems Lab (HumAns) [153]
    • Human-Automation Systems Lab HumAns Publications [153]

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