Optimal path planning using a continuous anisotropic model for navigation on irregular terrains

Abstract Mobile robots usually need to minimize energy when they are traversing uneven terrains. To reach a location of interest, one strategy consists making the robot follow path that demands least possible amount energy. Yet, its calculation is not trivial with irregular surfaces. Gravity makes consumption change according heading. Such variation subject terramechanic characteristics surface. This paper introduces cost function addresses this slopes. presents direction-dependency (anisotropic) and returns for all directions (continuous).. Moreover, it compatible Ordered Upwind Method, which allows finding globally optimal paths in deterministic way. Besides, segments these restricted shape grid. Finally, also description discussion simulation experiment. It served analyse what kinds terrain motivate use anisotropy. The Method was executed on virtual crater different parameter configurations, using both isotropic (direction-non-dependent) anisotropic functions. results evince how certain situations an instead produces reduces accumulated by up 20%.