Abstract
This paper deals with motion planning for a mobile robot moving on a hilly three dimensional terrain and subjected to strong physical interaction constraints. The main contribution of this paper is a planning method which takes into account the dynamics of the robot, the robot/terrain interactions, the kinematic constraints of the robot, and more classical geometric constraints. The basic idea of our method is to integrate geometric and physical models of the robot and of the terrain in a two-level motion planning process consisting in combining a discrete search strategy and a continuous motion generation method. It will be shown how each planning level operates and how they interact in order to generate a safe and executable motion for the all-terrain vehicle.
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© 1995 IFIP International Federation for Information Processing
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Cherif, M. (1995). Physical Models for Solving Off-Road Vehicle Motion Planning. In: Rix, J., Haas, S., Teixeira, J. (eds) Virtual Prototyping. IFIP Advances in Information and Communication Technology. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-34904-6_20
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DOI: https://doi.org/10.1007/978-0-387-34904-6_20
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-5041-2927-5
Online ISBN: 978-0-387-34904-6
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