Research on slipping prediction algorithm based on terrain slope in complex terrain environment

The paper proposed a slipping prediction algorithm based on I terrain slope, aiming at the path planning failure caused by the slip in soft terrain environment. First, the slippage is predicted using terrain slope information onboard, and a slip prediction algorithm is developed, then, the slip goodness map was generated. The slipping prediction algorithm can be used for choosing a better path, even before getting stuck avoid that terrains of large slip and increase the efficiency of path planning in that terrain environments, especially in soft terrain environment.