Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots
Fetullah Atas,Grzegorz Cielniak,Lars Grimstad,Fetullah Atas,Grzegorz Cielniak,Lars Grimstad
This paper introduces a new method for robot motion planning and navigation in uneven environments through a surfel representation of underlying point clouds. The proposed method addresses the shortcomings of state-of-the-art navigation methods by incorporating both kinematic and physical constraints of a robot with standard motion planning algorithms (e.g., those from the Open Motion Planning Lib...
