Traversability
Traversability is the property of a terrain that determines whether it can be crossed by a given agent under specified conditions. It depends on the carrier’s capabilities (feet, wheels, tracks, or legs), its load, weather, and the required speed or safety threshold. In planning, traversability is represented spatially to support routing.
Key factors include slope or gradient, surface roughness and texture, deformability and cohesion (such as sand,
Assessment methods combine qualitative judgments with quantitative metrics and modeling. Common metrics include slope angle, roughness
Applications span autonomous robotics and vehicle navigation, planetary exploration, disaster response, and outdoor recreation planning. For
Limitations include dynamic change, measurement uncertainty, and agent-specific constraints. Traversability is context-dependent and time-sensitive, requiring ongoing