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arXiv · 1910.08521

Fast Local Planning and Mapping in Unknown Off-Road Terrain

Timothy Overbye·Srikanth Saripalli
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Abstract

In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be created and updated at 10 Hz. An A* planner finds optimal paths over the map. Finally, we take multiple samples over the control input space and do a kinematic forward simulation to generated feasible trajectories. Then the most optimal trajectory, as determined by the cost map and proximity to A* path, is chosen and sent to the controller. Our method allows real time operation at rates of 30 Hz. We demonstrate the efficiency of our method in various off-road terrain at high speed.

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Timothy Overbye, Srikanth Saripalli. 2019-10-18. Fast Local Planning and Mapping in Unknown Off-Road Terrain. https://arxiv.org/abs/1910.08521

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