摘要：This paper proposes a novel motion planning method that can deal with changes in rough terrainefficiently.Previous studies on motion planning in rough terrain did not consider significant changes in theenvironment. To solve this problem, we propose an efficient re-planning method.The re-planning methodis characterized by using search tree repeatedly as long as it is still valid.Reusing search tree enableslimiting the re-planning region, which leads to the shorter planning time.After re-planning, the re-plannedpath is deformed to shorten the length of the path. Experimental results show that the proposed method cangenerate a collision-free path against a significant environmental change and perform the re-planningwithin a short time.
