In this paper we present a traversability assessment method for motion planning in autonomous walking robots. The aim is to plan the motion of the robot in a real scenario on a rough terrain, where the level of details in the obtained terrain maps is not sufficient for motion planning. A guided RRT (Rapidly-exploring Random Trees) algorithm is used to plan the motion of the robot on rough terrain. We are looking for a method that can learn the terrain traversability cost function to the benefit of the guiding function of the planning algorithm. A probabilistic regression technique is used to solve the traversability assessment problem.
D. Belter, P. Łabęcki, P. Skrzypczyński, An Exploration-based Approach to Terrain Traversability Assessment for a Walking Robot, 11th IEEE International Symposium on Safety Security and Rescue Robotics, Linköping, Sweden, CD-ROM, 2013
D. Belter, Perception-based motion planning for a walking robot in rugged terrain, In Lecture Notes in Control and Information Sciences: Robot Motion and Control (K. Kozłowski, Ed.), pp. 127-136, Springer, Berlin 2011