Hierarchical Path Planning on Probabilistically Labelled Polygons
نویسندگان
چکیده
In this paper, we consider the case of a robot that must find ways in an initially unknown and often complex cross-country environment. Our approach relies on a particular model of the environment, built from 3D data : the environment is represented by a hierarchical polygonal structure, in which terrain classes probabilities are updated as the robot moves. We describe how to define traversability costs within such a structure, taking into account the label probabilities, and present how a shortest path search can produce a sequence of polygonal cells that must be crossed.
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