SmartNav: A rule-free fuzzy approach to rover navigation
Homayoun Seraji · Journal of Robotic Systems · 2005
This paper introduces the basic concepts of the SmartNav rule-free fuzzy approach to safe rover navigation through hazardous natural terrain. This novel “rule-free” approach reduces the complexity in rover navigation where many alternative paths must be evaluated and compared. The SmartNav rover navigation architecture integrates goal attainment with both local and regional hazard avoidance. Goal and safety preference factors differentiate between preferred and unpreferred terrain sectors. The goal-preference factor is used to make sector evaluation based on the sector orientation relative to the designated goal position. The safety-preference factors are used to make sector evaluations on the basis of the sector local and regional hazards. These sector evaluations are blended to find the effective preference factor for each sector. The preference factors of all sectors are then compared to choose the heading command for the rover. The rover speed command is also computed based on the goal distance and safety-preference factor of the chosen sector. The above navigation steps are continuously repeated throughout the rover motion. Numerical examples are presented to illustrate the basic concepts introduced in this paper, and tests on a commercial rover are planned. © 2005 Wiley Periodicals, Inc.