This work proposes an innovative appudnavigation path-planning problemudexploration rovers by including terrain characteristics.udThe objective is to enhance the typical 2D arithmeticaludcost function by adding 3D information computed fromudthe laser-scanned terrain such as terrain height, slopes,udshadows, orientation and terrain roughness.udThis paper describes the algorithm developed by UPMudand GMV and the tests made at the GMV outdoor testudfacilities using the Moon-Hound rover. This rover is aud50 Kg rover including a Sick laser mounted on audpan&tilt unit for generation of 3D Digital ElevationudModels (DEM’s). Experimental results have shown theudeffectiveness of the proposed approach.
展开▼
