Optimal Path Planning using CAMIS: a Continuous Anisotropic Model for Inclined Surfaces
J. Ricardo Sánchez-Ibáñez,
Carlos J. Pérez-del-Pulgar,
Javier Serón
et al.
Abstract:The optimal traverse of irregular terrains made by ground mobile robots heavily depends on the adequacy of the cost models used to plan the path they follow. The criteria to define optimality may be based on minimizing energy consumption and/or preserving the robot stability. This entails the proper assessment of anisotropy to account for the robot driving on top of slopes with different directions. To fulfill this demand, this paper presents the Continuous Anisotropic Model for Inclined Surfaces, a cost model… Show more
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