Urban Search and Rescue Robots: From Tragedy to Technology
IEEE Intelligent Systems
Digital Image Processing Using MATLAB
Digital Image Processing Using MATLAB
Learning and prediction of slip from visual information: Research Articles
Journal of Field Robotics - Special Issue on Space Robotics
Hough based terrain classification for realtime detection of drivable ground: Research Articles
Journal of Field Robotics - Special Issue on Search and Rescue Robots
Editorial: Search and rescue robots: Editorial
Journal of Field Robotics - Special Issue on Search and Rescue Robots
A Fuzzy-Logic-Based Approach for Mobile Robot Path Tracking
IEEE Transactions on Fuzzy Systems
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This paper presents a navigation algorithm based on traversability for search and rescue robot. The traversability includes pre-traversability and real-time traversability. The pre-traversability is calculated using terrain roughness and roll and pitch change. The terrain roughness is based on the texture information from the image captured by the on-board camera. An artificial neural network has been trained to find the relationship between roll and pitch changes and image characters. In order to avoid the localization that the intransitable region could not be completely identified just using the image process method, the real-time traversability with slip element has been adopted to correct the error in pre-traversability. The fuzzy logic approach has been developed for the traversability integration. The experiment demonstrates that the navigation algorithm is effective.