Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems

Details Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems

Jun 2006

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2006spie.6229e..11s&link_type=abstract

Intelligent Computing: Theory and Applications IV. Edited by Priddy, Kevin L.; Ertin, Emre. Proceedings of the SPIE, Volume 6229

Statistics

Applications

Scientific paper

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

Affiliated with

Also associated with

No associations

Rating

Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-1329598