Hierarchical rough terrain motion planning using an optimal sampling-based method

@article{Brunner2013HierarchicalRT,
  title={Hierarchical rough terrain motion planning using an optimal sampling-based method},
  author={Michael Brunner and Bernd Br{\"u}ggemann and Dirk Schulz},
  journal={2013 IEEE International Conference on Robotics and Automation},
  year={2013},
  pages={5539-5544}
}
Mobile robots with reconfigurable chassis are able to traverse unstructured outdoor environments with boulders or rubble, and overcome challenging structures in urban environments, like stairs or steps. Autonomously traversing rough terrain and such obstacles while ensuring the safety of the robot is a challenging task in mobile robotics. In this paper we introduce a two-phase motion planning algorithm for actively reconfigurable tracked robots. We first use the completeness of a graph search… CONTINUE READING
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