Motion planning and stochastic control with experimental validation on a planetary rover

Abstract

Motion planning for planetary rovers must consider control uncertainty in order to maintain the safety of the platform during navigation. Modelling such control uncertainty is difficult due to the complex interaction between the platform and its environment. In this paper, we propose a motion planning approach whereby the outcome of control actions is… (More)
DOI: 10.1109/IROS.2012.6386229

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