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dc.contributor.authorSeraji, Homayounen_US
dc.contributor.authorHoward, Ayanna M.en_US
dc.contributor.authorTunstel, Edwarden_US
dc.date.accessioned2011-03-29T16:58:09Z
dc.date.available2011-03-29T16:58:09Z
dc.date.issued2001-05
dc.identifier.citationH. Seraji, A. Howard, E. Tunstel, “Safe Navigation on Hazardous Terrain,” IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, May 2001, Vol. 3, 3084-3091.en_US
dc.identifier.isbn0-7803-6576-3
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/1853/38321
dc.description©2001 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 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26, 2001.en_US
dc.descriptionDOI: 10.1109/ROBOT.2001.933091en_US
dc.description.abstractThis paper presents a new strategy for autonomous navigation of field mobile robots on hazardous natural terrain using a fuzzy logic approach and a measure of terrain traversability. The navigation strategy comprises three simple, independent behaviors: seek-goal, traverse-terrain, and avoid-obstacle. The recommendations from these three behaviors are combined through appropriate weighting factors to generate the final steering and speed commands that are executed by the robot. The weighting factors are produced by fuzzy logic rules that take into account the current status of the robot. This navigation strategy requires no a priori information about the environment, 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 All Terrain rover are presented. These results demonstrate the real-time capabilities of the terrain assessment and fuzzy logic navigation algorithms.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectPioneer all terrain roveren_US
dc.subjectRobot navigationen_US
dc.subjectMobile robotsen_US
dc.subjectSafe navigationen_US
dc.subjectSpeed commandsen_US
dc.subjectSteering commandsen_US
dc.subjectTerrain assessmenten_US
dc.subjectTerrain classificationen_US
dc.titleSafe Navigation on Hazardous Terrainen_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.2001.933091


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