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The optimal traverse of irregular terrains made by ground mobile robotsheavily depends on the adequacy of the cost models used to plan the path theyfollow. The criteria to define optimality may be based on minimizing energyconsumption and/or preserving the robot stability. This entails the properassessment of anisotropy to account for the robot driving on top of slopes withdifferent directions. To fulfill this demand, this paper presents theContinuous Anisotropic Model for Inclined Surfaces, a cost model compatiblewith anisotropic path planners like the bi-directional Ordered Upwind Method.This model acknowledges how the orientation of the robot with respect to anyslope determines its energetic cost, considering the action of gravity andterramechanic effects such as the slippage. Moreover, the proposed model can betuned to define a trade-off between energy minimization and Roll anglereduction. The results from two simulation tests demonstrate how, to find theoptimal path in scenarios containing slopes, in certain situations the use ofthis model can be more advantageous than relying on isotropic cost functions.Finally, the outcome of a field experiment involving a skid-steering robot thatdrives on top of a real slope is also discussed.

Optimal Path Planning using CAMIS: a Continuous Anisotropic Model for Inclined Surfaces