New potential field method for rough terrain path planning using genetic algorithm for a 6-wheel rover
Proposed a new potential field method for rough terrain path planning for a rover. A gradient function is introduced in the conventional potential field method. The gradient function depends on the roll, pitch and yaw angles of the rover. Weights of potential field function are optimized by using GA. Results prove that the new method is superior to conventional potential field method.
potential field path planning genetic algorithm planetary rover autonomous systems rover kinematics