TTA-GEP: Terrain Traversability Analysis with Geometry and Environmental Perception for the Path Planning of Planetary Rovers

Table 3

The configuration of parameters.

Parameter	Value
L (cm)	150
(m)	5
, and	0.5, 0.25, 0.15, and 0.1
and (deg)	15, 15
Threshold of height (cm), slope (deg), and roughness (cm)	15, 10, 3