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首页> 外文期刊>Journal of robotic systems >New Travcrsability Indices and Travcrsability Grid for Integrated Sensor/Map-Based Navigation
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New Travcrsability Indices and Travcrsability Grid for Integrated Sensor/Map-Based Navigation

机译：用于基于传感器/地图的集成导航的新的可行驶性指标和可行驶性网格

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This paper presents new measures of terrain traversability at short range and long range of a mobile robot; namely, local and global traversability indices. The sensor-based local traversability index is related by a set of linguistic rules to large obstacles and surface softness within a short range of the robot measured by on-board sensors. The map-based global traversability index is obtained from the terrain topographic map, and is based on major surface features such as hills and lakes within a long range of the robot. These traversability indices complement the mid-range sensor-based regional traversability index introduced earlier. Each traversability index is represented by four fuzzy sets with the linguistic labels {POOR, LOW, MODERATE, HIGH}, corresponding to surfaces that are unsafe, moderately-unsafe, moderately-safe, and safe for traversal, respectively. The global terrain analysis also leads to the new concepts of traversability map and traversability grid for representation of terrain quality based on the global map information. The traversability indices are used in two sensor-based traverse-local and traverse-regional behaviors and one map-based traverse-global behavior. These behaviors are integrated with a map-based seek-goal behavior to ensure that the mobile robot reaches its goal safely while avoiding both sensed and mapped terrain hazards. This provides a unified system in which the two independent sources of terrain quality information, i.e., prior maps and on-board sensors, are integrated together for reactive robot navigation. The paper is concluded by a graphical simulation study.
机译：本文提出了一种在移动机器人的近距离和远距离上进行地形穿越的新方法。即本地和全球可遍历性指数。基于传感器的局部可遍历性指数通过一组语言规则与由车载传感器测量的机器人短范围内的较大障碍物和表面柔软度相关。基于地图的全局可遍历性指数是从地形地形图获得的，并且基于主要表面特征（例如，机器人的长距离内的丘陵和湖泊）。这些可遍历性指数补充了较早引入的基于中程传感器的区域可遍历性指数。每个可遍历性指标由四个模糊集表示，它们具有语言标签{POOR，LOW，MODERATE，HIGH}，分别对应于不安全，中度不安全，中度安全和遍历安全的曲面。全球地形分析还提出了可遍历性地图和可遍历性网格的新概念，用于基于全局地图信息来表示地形质量。可遍历性索引用于两种基于传感器的遍历局部和遍历区域行为以及一种基于地图的遍历全局行为。这些行为与基于地图的搜索目标行为相集成，以确保移动机器人安全地达到其目标，同时避免感知到的地形风险和地图上的危害。这提供了一个统一的系统，其中两个独立的地形质量信息源（即先前的地图和车载传感器）集成在一起，用于反应式机器人导航。本文通过图形仿真研究得出结论。

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