New traversability indices and traversability grid for integrated sensor/map-based navigation

摘要

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.