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Proceedings Paper

Impact of uncertain terrain models on the weighted region problem
Author(s): Bijan G. Mobasseri
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Paper Abstract

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.

Paper Details

Date Published: 1 March 1991
PDF: 8 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25509
Show Author Affiliations
Bijan G. Mobasseri, Villanova Univ. (United States)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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