A landmark-based motion planner for rough terrain navigation

被引：0

作者：

Hait, A ^{[1
]}

Siméon, T ^{[1
]}

Taïx, M ^{[1
]}

机构：

[1] CNRS, Automat & Anal Syst Lab, F-31077 Toulouse, France

来源：

EXPERIMENTAL ROBOTICS V | 1998年 / 232卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper me 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 first 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 focal trajectories between the subgoals, satisfying the robot placement constraints.

引用

页码：216 / 226

页数：11

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