History-Aware Planning for Risk-free Autonomous Navigation on Unknown Uneven Terrain
Yinchuan Wang,Nianfei Du,Yongsen Qin,Xiang Zhang,Rui Song,Chaoqun Wang,Yinchuan Wang,Nianfei Du,Yongsen Qin,Xiang Zhang,Rui Song,Chaoqun Wang
It is challenging for the mobile robot to achieve autonomous and mapless navigation in the unknown environment with uneven terrain. In this study, we present a layered and systematic pipeline. At the local level, we maintain a tree structure that is dynamically extended with the navigation. This structure unifies the planning with the terrain identification. Besides, it contributes to explicitly i...
