1P1-J06 Construction of Fuzzy Inference-based Terrain Traversability Analysis Method for Mobile Robots

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Other Title
  • 1P1-J06 ファジィ推論を利用した移動ロボットのための不整地の走行可能性推定手法の構築

Abstract

This paper describes a novel rough terrain traversability analysis method for a mobile robot navigation. We focused on the scenario of mobile robot operation in disaster environment with limited sensor data. The proposed method enables mobile robots to analyze terrain traversability of surrounding area and select safe course direction in spite of the limited sensor data acquisition area. Terrain traversability analysis and course direction judgment are realized based on feature value calculation of terrain, fuzzy inference and vector field histogram. The experimental results show that the proposed method can select safe course direction of the mobile robot successfully.

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