Motion generation for a rover on rough terrains
David Bonnafous, Simon Lacroix, Thierry Siméon · 2002
This article presents an algorithm that determines safe motions for an articulated rover on rough terrains. It relies on the evaluation of a set of elementary trajectories on a digital elevation map built as the rover moves. The algorithm relies on the explicit computation of geometric constraints on the rover chassis. It has been integrated within a continuously running navigation loop on board the robot Lama, and tested under various terrain conditions.