An explicit path planner to facilitate reactive control and terrain preferences
作者： R.R. Murphy , K. Hughes , E. Noll
DOI: 10.1109/ROBOT.1996.506175
关键词: Mathematical optimization 、 Wavefront 、 Path (graph theory) 、 Architecture 、 Motion planning 、 Terrain 、 Control engineering 、 Planner 、 Optimal control 、 Engineering 、 Mobile robot
摘要: This paper presents a new approach to reactive control utilizing the output of an explicit path planner which considers terrain preferences. To demonstrate concept, wavefront propagation, type algorithm, Trulla, is integrated into framework and used as part overall architecture. Terrain preferences are represented weights or costs considered in generating near optimal path. The algorithm demonstrated on CSM Denning-Branch MRV4 mobile robot for three scenarios: navigation out box canyon, planning with preferences, opportunistic improvement.
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