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1 March 1991 Impact of uncertain terrain models on the weighted region problem
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Proceedings Volume 1388, Mobile Robots V; (1991)
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
Outdoor navigation is characterized by motions through regions of varied terrain. The weighted region problem (WRP) is a generalization of the obstacle avoidance problem with 1/oo cost structure. By assigning indices to surface patches proportional to their traversability WRP seeks a path with the shortest length in the weighted sense. This work generalizes the WRP paradigm by stating that the traversability indices may only be available through a probability distribution. The reported indices therefore are not an exact description of the terrain rather they are an observation drawn from their respective distributions. Development of a decision basis directing the search is an objective of this paper.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Bijan G. Mobasseri "Impact of uncertain terrain models on the weighted region problem", Proc. SPIE 1388, Mobile Robots V, (1 March 1991);


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