オフライン探索の結果を用いた効率的な再探索を行う不整地移動ロボットの動作計画

概要

We propose an efficient path re-planning method which reuses offline search tree for mobile robots in rough terrain. Mobile robots in rough terrain cannot follow a planned path because of changes in environment. To solve this problem, we realize a fast re-planning by using search tree obtained by offline path planning.