Fuzzy traversability index: A new concept for terrain‐based navigation

摘要: Fuzzy Traversability Index is introduced in this paper as a new and simple measure for quantifying the ease of traversal natural terrains by field mobile robots. This index provides means incorporating terrain quality data into robot navigation strategy used terrain-based The expressed fuzzy sets that quantify suitability based on its geometrical physical properties, such slope, roughness, hardness. descriptive representation traversability language using linguistic variables conditional statements easily comprehensible, more appealing, closer to human intuition than mathematical formulation traversability. A set rules developed guide toward safest most traversable terrain. In addition, another drive from initial position user-specified goal position. These two rule are integrated two-stage procedure autonomous without priori map-based knowledge about environment. first stage, traverse-terrain seek-goal make their individual, independent recommendations turn move commands. second these appropriate weighting factors generate combined, coordinated recommendation status. Three simulation studies presented demonstrate capability reach safely while avoiding impassable terrains. ©2000 John Wiley & Sons, Inc.