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

Amir Shirkhodaie

doi:10.1117/12.673118

9 May 2006 Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems

Amir Shirkhodaie

Proceedings Volume 6229, Intelligent Computing: Theory and Applications IV; 62290D (2006) https://doi.org/10.1117/12.673118
Event: Defense and Security Symposium, 2006, Orlando (Kissimmee), Florida, United States

Abstract

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.

Citation Download Citation

Amir Shirkhodaie "Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems", Proc. SPIE 6229, Intelligent Computing: Theory and Applications IV, 62290D (9 May 2006); https://doi.org/10.1117/12.673118

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
12 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Fuzzy logic

Mars

Mobile robots

Visualization

Neural networks

Statistical analysis

Visual process modeling

Show All Keywords

Keywords/Phrases

Search In:

Publication Years