A terrain-based path planning method for mobile robots
作者： B. Werger , A. Howard , H. Seraji
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摘要: This paper presents a technique for incorporating terrain traversability data into global path planning method field mobile robots operating on rough natural terrain. The focus of this approach is assessing the characteristics using multi-valued map representation traversal dificulty, and information to compute cost function ensure robot survivability. then utilized by planner find an optimally safe through A graphical simulator terrain-basedpath presented. applied commercial Pioneer 2-AT andfield test results are provided.
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