Real-time Optimal Navigation Planning Using Learned Motion Costs
Bowen Yang Lorenz Wellhausen Takahiro Miki Ming Liu Marco Hutter Bowen Yang Lorenz Wellhausen Takahiro Miki Ming Liu Marco Hutter
Navigation on challenging terrain topographies requires the understanding of robots’ locomotion capabilities to produce optimal solutions. We present an integrated framework for real-time autonomous navigation of mobile robots based on elevation maps. The framework performs rapid global path planning and optimization that is aware of the locomotion capabilities of the robot. A GPU-aided, sampling-...