Efficient motion planning for mobile robots dealing with changes in rough terrain

Shinya Katsuma, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Research output: Contribution to journalConference articlepeer-review


This paper proposes a novel motion planning method that can deal with changes in rough terrain efficiently. Previous studies on motion planning in rough terrain did not consider significant changes in the environment. To solve this problem, we propose an efficient re-planning method. The re-planning method is characterized by using search tree repeatedly as long as it is still valid. Reusing search tree enables limiting the re-planning region, which leads to the shorter planning time. After re-planning, the re-planned path is deformed to shorten the length of the path. Experimental results show that the proposed method can generate a collision-free path against a significant environmental change and perform the re-planning within a short time.

Original languageEnglish
Pages (from-to)83-86
Number of pages4
Issue number22
Publication statusPublished - 2019 Oct
Event1st IFAC Workshop on Robot Control, WROCO 2019 - Daejeon, Korea, Republic of
Duration: 2019 Sept 182019 Sept 20


  • Autonomous navigation
  • Mobile robots
  • Motion planning
  • Path planning
  • Rough terrain


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