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dc.contributor.authorHoward, Ayanna M.en_US
dc.contributor.authorWerger, Barryen_US
dc.contributor.authorSeraji, Homayounen_US
dc.date.accessioned2011-03-29T16:58:02Z
dc.date.available2011-03-29T16:58:02Z
dc.date.issued2003-09
dc.identifier.citationA. Howard, B. Werger, H. Seraji, “Integrating Terrain Maps into a Reactive Navigation Strategy,” IEEE International Conference on Robotics and Automation (ICRA) Taipei, Taiwan, September 2003, Vol. 2, 2012-2017.en_US
dc.identifier.isbn0-7803-7736-2
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/1853/38320
dc.description©2003 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.descriptionPresented at the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 14-19, 2003.en_US
dc.descriptionDOI: 10.1109/ROBOT.2003.1241889en_US
dc.description.abstractThis 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectRobot navigationen_US
dc.subjectFuzzy map representationen_US
dc.subjectTerrain maps integrationen_US
dc.subjectMobile robotsen_US
dc.subjectReactive navigationen_US
dc.titleIntegrating Terrain Maps into a Reactive Navigation Strategyen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameJet Propulsion Laboratory (U.S.)en_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US
dc.identifier.doi10.1109/ROBOT.2003.1241889


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