A New Path Planning Architecture to Consider Motion Uncertainty in Natural Environment
Michihiro Mizuno,Takashi Kubota,Michihiro Mizuno,Takashi Kubota
This paper proposes a new path planning algorithm to consider motion uncertainty for wheeled robots in rough environments. The proposed method uses particles to express the uncertainty propagation in complicated environments constructed with various types of terrain. Also, RRT (Rapidly-exploring Random Tree) is expanded based on the uncertainty of each node in order to prevent increasing the accum...
