PUTN: A Plane-fitting based Uneven Terrain Navigation Framework
Zhuozhu Jian,Zihong Lu,Xiao Zhou,Bin Lan,Anxing Xiao,Xueqian Wang,Bin Liang,Zhuozhu Jian,Zihong Lu,Xiao Zhou,Bin Lan,Anxing Xiao,Xueqian Wang,Bin Liang
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a plane-fitting based uneven terrain navigation framework (PUTN) to solve this problem. The implementation of PUTN is divided into three steps. First, based on Rapidly...
