Field environment modeling and dynamic path planning
越野环境建模与动态路径规划

Facing to the problem of navigation and control of mobile robot in field environment, an approach to environment modeling and dynamic path planning in field environment was proposed. Given the Digital Elevation Model (DEM) of the terrain, this method can model the field environment effectively and synthetically considering the factors such as the capability restriction of robot and the characters of terrain and so on. Based on the environment modeling, the path planning, which adopted a method that combined global information with local information and integrated pre-action planning result with online planning, can satisfy the requirement of the dynamic path planning in filed environment. The experimental results show that this method can fit in with different complicated field environments very well.