Terrain Classification Algorithm for Lunar Rover Using a Deep Ensemble Network with High-Resolution Features and Interdependencies between Channels

Table 5

Rule base for Fuzzy Traversability Index.

Roughness	Discontinuity	Hardness	Type
Smooth	Small	Soft	Soft gravel
Smooth	Small	Hard	Compacted soil
Rough	Small	Hard	Compacted soil
Rough	Small	Soft	Soft gravel
	Large		Concave land
Rocky			Rocky terrain