Abstract| This paper deals with motion planning on rough terrain for mobile robots. The aim is to develop e cient algorithms, suitable for various types of robots. On rough terrain, the planned trajectory must verify several validity constraints : stability of the robot, mechanical limits and collision avoidance with the ground. Our approach relies on a static and kinematic model of the robot. E cient geometric algorithms have been developed, taking advantage of each vehicle's speci cities. Motion planning relies on incremental search in the discretized con guration space and uses e cient heuristics based on terrain characteristic to limit the size of search space. Simulation results present trajectories planned in a few seconds. The second part takes into account uncertainties to improve trajectory robustness: uncertainties on the terrain model and the position of the robot. The adaptation of the previous algorithms allow to nd robust trajectories, without excessive time increase.
The authors of REF present an approach to motion planning on rough terrain for a wheeled robot with passive suspension using an A*-search on a discretized configuration space with heuristics to limit the search space.
Algorithms for rough terrain trajectory planning
Advanced Robotics
Advanced Robotics
Engineering Computer Science