Point Cloud Segmentation and 3D Path Planning for Tracked Vehicles in Cluttered and Dynamic Environments
نویسندگان
چکیده
The paper presents a framework for tracked vehicle 3D path planning in rough areas, with dynamic obstacles. The framework provides methods for real-time point cloud interpretation, segmentation and traversabilty analysis tacking also into account changes such as dynamic obstacles and provides a terrain structure interpretation. Moreover the paper presents R2A an extended version of randomized A? coping with difficult terrains and complex paths for non-holonomic robots.
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