Wheeled-Robot Navigation with Velocity Updating on Rough Terrains

For navigation on outdoor surfaces, usually having different kind of roughness and soft irregularities, this paper proposal is that a wheeled robot combines the gradient method for path planning, alongside it adjusts velocity based on a multi-layer fuzzy neural network; the network integrates information about the roughness and the soft slopes of the terrain to compute the navigation velocity. The implementation is simple and computationally low-cost. The experimental tests show the advantage in the performance of the robot by varying the velocity depending on the terrain features.