A terrain-based path planning method for mobile robots
Ayanna Howard, Homayoun Seraji, Barry Brian Werger · 2003
Abstract. This paper presents a technique for incorporating terrain traversability data into a global path planning method for field mobile robots operating on rough natural terrain. The focus of this approach is on assessing the traversability characteristics of the global terrain using a multi-valued map representation of traversal dificulty, and using this information to compute a traversal cost function to ensure robot survivability. The traversal cost is then utilized by a global path planner to find an optimally safe path through the terrain. A graphical simulator for the terrain-basedpath planning is presented. The path planner is applied to a commercial Pioneer 2-AT robot andfield test results are provided. I.