Obstacle traversal for space exploration
作者： Z. Shiller
DOI: 10.1109/ROBOT.2000.844729
关键词: Obstacle 、 Exploration of Mars 、 Robot 、 Mars rover 、 Obstacle avoidance 、 Artificial intelligence 、 Computer vision 、 Tree traversal 、 Climbing 、 Motion planning 、 Computer science 、 Mobile robot
摘要: Obstacle traversal aims at selecting a feasible path through an obstacle field. It is different from avoidance in that the selected might climb over some obstacles if this "cheaper" than going around. Climbing allows to generate shorter paths case of large concave obstacles. A planner presented produces traversable paths, taking into account terrain topography, robot parameters, and robot/ground interaction. This applicable outdoor applications, such as Mars exploration, where absolute not necessary. Examples for rover are presented.
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