Fuzzy terrain-based navigation on urban terrains

Wong Kit Yee, S. Parasuraman, V. Ganapathy

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

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 languageEnglish
Title of host publicationAdvances in Computing and Information Technology- Proceedings of the 2nd International Conference on Advances in Computing and Information Technology, ACITY 2012- Volume 3
EditorsNatarajan Meghanathan, Nabendu Chaki, Dhinaharan Nagamalai
PublisherSpringer
Pages249-258
Number of pages10
ISBN (Print)9783642315992
DOIs
Publication statusPublished - 2013
EventInternational Conference on Advances in Computing and Information Technology 2012 - Chennai, India
Duration: 13 Jul 201215 Jul 2012
Conference number: 2nd
https://link.springer.com/book/10.1007/978-3-642-31600-5?page=1#toc (Proceedings)

Publication series

NameAdvances in Intelligent Systems and Computing
Volume178
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365

Conference

ConferenceInternational Conference on Advances in Computing and Information Technology 2012
Abbreviated titleACITY 2012
Country/TerritoryIndia
CityChennai
Period13/07/1215/07/12
Internet address

Keywords

  • Fuzzy Logic controller
  • Fuzzy set
  • Goal-enhancement
  • Grid based map
  • Mobile Robot
  • Terrain
  • Traversability Index

Cite this