Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation
نویسندگان
چکیده
This letter presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware slope, visibility vehicle orientation, enabling to recognize, plan react around unobserved areas overcome negative obstacles, slopes, steps, overhangs narrow passageways. is one pioneer works explicitly simultaneously couple components in dealing with obstacles. The was deployed on three heterogeneous the DARPA Subterranean Challenge, we present results Urban Cave environments, along simulated scenarios, that demonstrate this approach.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2021
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2021.3065302