Reactive Navigation in Outdoor Environments
نویسندگان
چکیده
The paper presents an approach to reactive navigation in cross country terrains The approach relies on a particular probabilistic obstacle detection procedure that describes the area perceived by a pair of stereo cameras as a set of polygonal cells To generate the motion commands on the basis of this terrain description we present some improvements and adaptations to the classical potential elds technique The algorithms have been implemented within an instance of a generic software architecture and experimented with the robot Lama
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