Real-time Motion Planning in Unknown Environments for Legged Robotic Planetary Exploration
2020 IEEE AEROSPACE CONFERENCE (AEROCONF 2020)（2020）
关键词
real time motion planning,legged robotic planetary exploration,planetary surface robotic explorers,rigorously-developed offline plans,long communication delays,rover downtime,scientific exploration,onboard robotic motion planning,autonomy pipeline,random tree algorithm,kinematic motion planning,high-dimensional systems,cluttered environments-like legged robots,planetary surface-can,complete environment information,global-local planner,partially unobserved environment,cluttered environment,fast global planner,low-dimensional model,real-time local planner,complex legged robot kinematics,fast global replanning,obstacle observations,planning algorithm,eight-jointed robot,demonstrative obstacle environments,robot kinematics
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