A Landmark-based Motion Planner for Rough Terrain Navigation
Résumé
In this paper we describe a motion planner for a mobile robot on a natural terrain. This planner takes into account placement constraints of the robot on the terrain and landmark visibility. It is based on a two-step approach:
during the rst step, a global graph of subgoals is generated in order to guide the robot through the landmark visibility regions; the second step consists in planning local trajectories between the subgoals, satisfying the robot placement constraints.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)