English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Safe navigation in uneven terrains is an important problem in roboticresearch. In this paper we propose a 2.5D navigation system which consists ofelevation map building, path planning and local path following with obstacleavoidance. For local path following we use Model Predictive Path Integral(MPPI) control method. We propose novel cost-functions for MPPI in order toadapt it to elevation maps and motion through unevenness. We evaluate oursystem on multiple synthetic tests and in a simulated environment withdifferent types of obstacles and rough surfaces.

2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain