Free space representation for a mobile robot moving on a rough terrain
B.D. Wright, Thierry Siméon · 2002
The problem of autonomous navigation for mobile robots on rough terrains is addressed. Free space structuring is proposed to improve the efficiency of path planning for all-terrain mobile robots. This space structuring is based on the characterization of configuration space regions for whom the locomotion architecture can guarantee terrain irregularities absorption and stability of the vehicle. A planar based on this approach is implemented. Experimental results demonstrate the feasibility of its practical use.>