Problem-Solving Methods in Artificial Intelligence
Problem-Solving Methods in Artificial Intelligence
Traversable Region Modeling for Outdoor Navigation
Journal of Intelligent and Robotic Systems
Theory and experiments in SmartNav rover navigation
Autonomous Robots
Hybrid intelligent path planning for articulated rovers in rough terrain
Fuzzy Sets and Systems
Intelligent behaviors in outdoor environments
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Stereo vision based obstacle avoidance path-planning for cross-country intelligent vehicle
FSKD'09 Proceedings of the 6th international conference on Fuzzy systems and knowledge discovery - Volume 5
Journal of Intelligent and Robotic Systems
Two-way D* algorithm for path planning and replanning
Robotics and Autonomous Systems
Terrain traversability analysis methods for unmanned ground vehicles: A survey
Engineering Applications of Artificial Intelligence
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A method of analyzing three-dimensional data such as might beproduced by stereo vision or a laser range finder in order to plan apath for a vehicle such as a Mars rover is described. In order toproduce robust results from data that is sparse and of varyingaccuracy, the method takes into account the accuracy of each datapoint, as represented by its covariance matrix. It computes estimatesof smoothed and interpolated height, slope, and roughness at equallyspaced horizontal intervals, as well as accuracy estimates of thesequantities. From this data, a cost function is computed that takesinto account both the distance traveled and the probability that eachregion is traversable. A parallel search algorithm that finds thepath of minimum cost also is described. Examples using real data arepresented.