Abstract Motion planning algorithms for mobile robots in rough terrain must explicitly consider the effects of robot-terrain interaction. This differs from planning for systems operating on level, smooth surfaces, where terrain effects can usually be safely ignored. In rough terrain, it is crucial that a robot be able to assess mobility hazards posed by sloped, loose, and uneven terrain, in order to formulate a safe, robust motion plan.
Chapter 3 Rough Terrain Motion Planning
2004-01-01
29 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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Springer Verlag | 2004
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