Navigating a Mobile Robot by a Traversability Field Histogram

  • Cang Ye
  • Published 2007 in
    IEEE Transactions on Systems, Man, and…


This paper presents an autonomous terrain navigation system for a mobile robot. The system employs a two-dimensional laser range finder (LRF) for terrain mapping. A so-called "traversability field histogram" (TFH) method is proposed to guide the robot. The TFH method first transforms a local terrain map surrounding the robot's momentary position into a… (More)
DOI: 10.1109/TSMCB.2006.883870

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