基于相对特征的越野地形可通行性分析

自主地面车在越野环境下导航面临最困难的问题之一是对地形的理解，分析感知到的越野地形，作适合于自主车导航的可通行性分析。本文提出了越野高程地形的相对不变性概念，并利用这种性质提取出在一定尺度范围内地形具有的相对不变特征，如地形坡度、起伏度和粗糙度，最后基于模糊规则组合各特征对地形的可通行性进行评估。自主车越野导航实验表明，本文算法稳定有效，能满足自主地面车越野导航的需要。

Rough Terrain Traversability Analysis Based on Relative Features

The rough terrain traversability for autonomous land vehicle(ALV) cross the country navigation is analyzed.Firstly,the concept of the terrain relative invariance on the elevation map is developed.Then,the terrain slope,roll and roughness are used as terrain relative features to be extracted based on the developed concept.Finally,this paper uses the variance of the local terrain to estimate the terrain roll,the numerical solution of curve surface fitting to compute the terrain slope,and the fractional Brownian motion model to estimate the terrain roughness.Finally the fuzzy rule is designed to integrate multi-features to form a uniform and reliable assessment for the terrain traversability.Experimental results show that the method is effective and robust,and can satisfy the ALV cross country navigation.