Path Planning for Wheeled Mobile Robot in Partially Known Uneven Terrain.

ABSTRACT: Path planning for wheeled mobile robots on partially known uneven terrain is an open challenge since robot motions can be strongly influenced by terrain with incomplete environmental information such as locally detected obstacles and impassable terrain areas. This paper proposes a hierarchical path planning approach for a wheeled robot to move in a partially known uneven terrain. We first model the partially known uneven terrain environment respecting the terrain features, including the slope, step, and unevenness. Second, facilitated by the terrain model, we use A⋆ algorithm to plan a global path for the robot based on the partially known map. Finally, the Q-learning method is employed for local path planning to avoid locally detected obstacles in close range as well as impassable

SUBMITTER: Zhang B 

PROVIDER: S-EPMC9322884 | biostudies-literature | 2022 Jul

REPOSITORIES: biostudies-literature