Terrain classification in navigation of an autonomous mobile robot

David R. Dodds

doi:10.1117/12.48086

1 March 1991 Terrain classification in navigation of an autonomous mobile robot

David R. Dodds

Proceedings Volume 1388, Mobile Robots V; (1991) https://doi.org/10.1117/12.48086
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

In this paper we describe a method of path planning that integrates terrain classification (by means of fractals) the certainty grid method of spatial representation Kehtarnavaz Griswold collision-zones Dubois Prade fuzzy temporal and spatial knowledge and non-point sized qualitative navigational planning. An initially planned (" end-to-end" ) path is piece-wise modified to accommodate known and inferred moving obstacles and includes attention to time-varying multiple subgoals which may influence a section of path at a time after the robot has begun traversing that planned path.

Citation Download Citation

David R. Dodds "Terrain classification in navigation of an autonomous mobile robot", Proc. SPIE 1388, Mobile Robots V, (1 March 1991); https://doi.org/10.1117/12.48086

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