Path planning for complex terrain navigation via dynamic programming

1999 Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)  
This work considers the problem of planning optimal paths for a mobile robot traversing complex terrain. In addition to the existing obstacles, locations in the terrain where the slope is too steep for the mobile robot to navigate safely without tipping over become mathematically equivdent to extra obstacles. To solve the optimal path problem, we use a dynamic programming approach. The dynamic programming approach utilized herein does not suffer the difficulties associated with spurious local
more » ... th spurious local minima that the artificial potential field approaches do. In fact, a globally optimal solution is guaranteed to be found if a feasible solution exists. The method is demonstrated on several complex examples including very complex terrains.
doi:10.1109/acc.1999.786612 fatcat:xlbt3qoapbaunentqhgsretxl4