Abstract
This research study presents a reactive terrain navigation strategy for a Shape-shifting Tracked Mobile Robot (STMR) in environments consisting of flat surfaces, discrete climbable steps and slopes. The proposed navigation strategy employs the concept of Fuzzy Terrain Traversability Index, where the ease of traversal is evaluated from a combination of geometric properties. A two-layer fuzzy controller is proposed, in which the Terrain Traversability Index is first computed based on slope gradient and step height, the data of which is obtained from a priori information of its surroundings in the form of a 2.5D grid map, before it is combined with sonar sensory data to determine the overall traversability of the region. Using goal-enhancement on fuzzy sets prior to defuzzification, the fuzzy controller outputs a turn recommendation deemed most convenient for the mobile robot. The navigation algorithm has been implemented in a virtual agent and custom-made robot with adequate case studies. These studies have shown encouraging results of the ability of the mobile robot to select its path based on its perceived ease of traversing.
Original language | English |
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Title of host publication | Advances in Computing and Information Technology- Proceedings of the 2nd International Conference on Advances in Computing and Information Technology, ACITY 2012- Volume 3 |
Editors | Natarajan Meghanathan, Nabendu Chaki, Dhinaharan Nagamalai |
Publisher | Springer |
Pages | 249-258 |
Number of pages | 10 |
ISBN (Print) | 9783642315992 |
DOIs | |
Publication status | Published - 2013 |
Event | International Conference on Advances in Computing and Information Technology 2012 - Chennai, India Duration: 13 Jul 2012 → 15 Jul 2012 Conference number: 2nd https://link.springer.com/book/10.1007/978-3-642-31600-5?page=1#toc (Proceedings) |
Publication series
Name | Advances in Intelligent Systems and Computing |
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Volume | 178 |
ISSN (Print) | 2194-5357 |
ISSN (Electronic) | 2194-5365 |
Conference
Conference | International Conference on Advances in Computing and Information Technology 2012 |
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Abbreviated title | ACITY 2012 |
Country/Territory | India |
City | Chennai |
Period | 13/07/12 → 15/07/12 |
Internet address |
Keywords
- Fuzzy Logic controller
- Fuzzy set
- Goal-enhancement
- Grid based map
- Mobile Robot
- Terrain
- Traversability Index