Motion planning for a non-holonomic mobile robot on 3-dimensional terrains

摘要

Addresses the problem of autonomous navigation of mobile robots on rough terrains. The contribution is a geometrical path planning algorithm that considers the geometry of the robot and its kinematic constraint in order to plan trajectories on a 3D terrain represented by polygonal patches. A first version of this planner has been implemented and simulation results that show the effectiveness of the approach are presented at the end of the paper.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>