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Navigation strategy to overcome rough terrain for miniature wheel-track hybrid mobile robot platform

It is necessary for the special service robot to have some parts of autonomous mobility which include local path planning, obstacle detection and avoidance. This work focuses on navigation strategy to overcome rough terrains for the miniature wheel-track hybrid mobile robot platform developed in the previous work. The navigation strategy describes determination of track attack angle and local path planning with obstacle collision avoidance. The validness and adaptability are verified through the simulation and experimental result.