Behavior maps for online planning of obstacle negotiation and climbing on rough terrain

Abstract

To autonomously navigate on rough terrain is a challenging problem for mobile robots, requiring the ability to decide whether parts of the environment can be traversed or have to be bypassed, which is commonly known as Obstacle Negotiation (ON). In this paper, we introduce a planning framework that extends ON to the general case, where different types of… (More)
DOI: 10.1109/IROS.2007.4399107

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@article{Dornhege2007BehaviorMF, title={Behavior maps for online planning of obstacle negotiation and climbing on rough terrain}, author={Christian Dornhege and Alexander Kleiner}, journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2007}, pages={3005-3011} }