A Mobile Robot Path Planning based on the Terrain with Varing Degrees of Traversability

연속적으로 변화하는 Traversability를 고려한 Mobile 로봇의 경로계획

There has been extensive efforts about robot path planning. Some major approaches are the roadmap approach, potential field approach and the cell decomposition approach. However, most of the path planning methods proposed so far based on above approaches consider the terrains filled with binary obstacles, i.e., if there exists an obstacle, robot simply cannot pass the location. In this paper, A mobile robot path planning method based on the cell decomposition technique for mobile robot that takes account of the terrain with varing degrees of travers-ability is discussed.