Title :
Enhancing fuzzy robot navigation systems by mimicking human visual perception of natural terrain traversability
Author :
Howard, Ayanna ; Tunstel, Edward ; Edwards, Dean ; Carlson, Alan
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
The paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data. The methodology utilizes a fuzzy logic framework and vision algorithms for analysis of the terrain. The terrain assessment and learning methodology is tested and validated with a set of real world image data acquired by an onboard vision system
Keywords :
computerised navigation; feature extraction; fuzzy control; fuzzy logic; learning (artificial intelligence); mobile robots; real-time systems; robot vision; fuzzy logic framework; fuzzy robot navigation systems enhancement; human visual perception mimicking; human-embedded logic; image data; learning methodology; natural terrain traversability; onboard vision system; outdoor mobile robot navigation; real world image data; real-time perception; terrain assessment; terrain feature extraction; vision algorithms; Algorithm design and analysis; Data mining; Feature extraction; Fuzzy logic; Fuzzy systems; Humans; Machine vision; Mobile robots; Navigation; System testing;
Conference_Titel :
IFSA World Congress and 20th NAFIPS International Conference, 2001. Joint 9th
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-7078-3
DOI :
10.1109/NAFIPS.2001.944218
