Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic

Figure 9

Geodesic replanning. The initial geodesic in Figure 8 is in collision with hazardous region (the dashed red circle) detected while following it. A new path is obtained by the geodesic replanning algorithm via directional scanning on the tangent plane. In the figure, the signs “”, “▽,” and “” denote the initial, the terminal, and the critical point, respectively. The initial geodesic and replanned collision-free composite geodesics are denoted by magenta and black lines, respectively. The cusp point is the critical point, where the robot temporarily stops to switch its moving direction.