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Proceedings Paper

Terrain classification in navigation of an autonomous mobile robot
Author(s): David R. Dodds
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Paper 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.

Paper Details

Date Published: 1 March 1991
PDF: 8 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.48086
Show Author Affiliations
David R. Dodds, Consultant (Canada)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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