A Landmark-based Motion Planner for Rough Terrain Navigation
نویسندگان
چکیده
In this paper we describe a motion planner for a mobile robot on a natural terrain. This planner takes into account placement constraints of the robot on the terrain and landmark visibility. It is based on a two-step approach: during the rst step, a global graph of subgoals is generated in order to guide the robot through the landmark visibility regions; the second step consists in planning local trajectories between the subgoals, satisfying the robot placement constraints.
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تاریخ انتشار 1997