Robot Motion Planning on Rough Terrain Using Multiresolution Second generation Wavelets and Non-Uniform B-splines

A new method of motion planning for mobile robots on natural, nonhomogeneous terrain is addressed in this paper. The proposed methodology takes into consideration the multiresolution concept of wavelets to represent the rough terrain. The initial path planning is done on coarser levels and final path is obtained after gradual refinement of path by using second generation wavelets. The nonuniform samples of the image are modeled using 2D B-spline functions which can be constructed very easily using a tensor product of 1D B-spline functions. The wavelet coefficients are used to compute the errors to explicitly distinguish the preferred terrain sections. The experimental results of the proposed method are discussed.