An elevation map based path planning for mobile robots in a complex outdoor terrain

作者：Yax Fei; Zhuang Van^*; Wang Wei; Hu Huosheng

来源：ICIC Express Letters, 2011, 5(8 B): 2747-2752.

• Constraints
• Elevation maps
• Evaluation strategies
• Non holonomic constraint
• Outdoor terrain
• Path-planning
• Path-planning algorithm
• Probabilistic roadmap methods
• Uniform distribution

This paper presents a novel outdoor path planning algorithm that gives consideration to both environment constraint and nonholonomic constraint. In order to generate accurate environment constraint, an elevation map is utilized to represent outdoor terrain. The Probabilistic Roadmap Method (PRM) is improved by choosing the special units in big-sized grids to ensure a uniform distribution of nodes. In the PRM, an evaluation strategy for calculating safe ranges of units in an elevation map is applied to generate environment constraint, and the path composed of units is smoothed to satisfy the nonholonomic constraint of a mobile robot. Experiment results show the validity and practicability of the proposed approach.

• 出版日期2011