Abstract

The concepts of Local, Regional, and Global Traversability Indices have been introduced recently (Seraji, 1999, 2000, 2001). These indices represent the suitability of a terrain for traversal by a mobile robot at different scales of resolution. This paper utilizes these indices to develop a navigation strategy for a mobile robot traversing a challenging terrain. The traversability indices form the basis of three navigational behaviors; namely, Traverse-Local, Traverse-Regional, and Traverse-Global behaviors. These behaviors are blended with the Seek-Goal behavior to ensure that the mobile robot reaches the goal safely while avoiding obstacles and impassable terrain segments. The paper is concluded by an illustrative graphical simulation study.

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