Abstract:Terrain assessment and path planning are intrinsically linked. There exist a variety of terrain-assessment algorithms and these methods follow the trend of low-fidelity at low-cost and high-fidelity at high-cost. We present a modular path-planning algorithm that uses a hierarchy of terrainassessment methods; from low-fidelity to high-fidelity. Using all the available sensor data, the visible terrain is assessed with the low-fidelity, low-cost method. The decision to assess a piece of terrain with the high-fide… Show more
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