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Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain

  • Dissertationen und Habilitationen
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Abstract

The thesis “Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain” proposes a global robot navigation concept for rugged off-road terrain which is robust against inaccurate self-localization and scalable to large environments, but also cost-conscious, e.g. able to generate navigation paths which optimize a cost measure closely related to terrain traversability. The thesis contributes a set of new techniques to integrate cost-consciousness into a primarily topological navigation scheme. Also, novel methods to learn and optimize cost estimates from experience are developed.

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References

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Authors and Affiliations

  1. Robotics Research Lab at the Department of Computer Sciences, University of Kaiserslautern, P.O. Box 3049, 67653, Kaiserslautern, Germany

    T. Braun

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  1. T. Braun
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Correspondence to T. Braun.

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Braun, T. Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain. Künstl Intell 25, 173–177 (2011). https://doi.org/10.1007/s13218-011-0088-9

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  • DOI: https://doi.org/10.1007/s13218-011-0088-9

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