Terrain-Based Navigation of Planetary Rovers: A Fuzzy Logic Approach
Howard, Ayanna M.
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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.