This article presents an algorithm that determines safe motions for an articulated rover on rough terrains. It relies on the evaluation of a set of elementary trajectories on a digital elevation map built as the rover moves. The algorithm relies on the explicit computation of geometric constraints on the rover chassis. It has been integrated within a continuously running navigation loop on board the robot Lama, and tested under various terrain conditions.
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Bonnafous et al. (2002) studied this question.
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