Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains

Article English OPEN
Jun, Jae-Yun ; Saut, Jean-Philippe ; Benamar, Faïz (2015)
  • Publisher: Elsevier
  • Related identifiers: doi: 10.1016/j.robot.2015.09.014
  • Subject: Rough Terrain | Tip-over Stability | [ SPI.AUTO ] Engineering Sciences [physics]/Automatic | Sampling-based Motion Planning | [SPI.AUTO]Engineering Sciences [physics]/Automatic | Mobile Robot | Path Planning

International audience; A novel path-planning algorithm is proposed for a tracked mobile robot to traverse uneven terrains, which can efficiently search for stability sub-optimal paths. This algorithm consists of combining two RRT-like algorithms (the Transition-based R... View more
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    4.3. Comparison between the results obtained using the BiRRT, BiTRRT and BiDDTRRT algorithms

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