Achieving Increased Mobility and Autonomy for Ground Vehicles Over Rough Terrain

摘要

We summarize some recent results on modeling and control of ground vehicles navigating in high-speed over rough terrain. We start with the modeling of expert race (rally) driving techniques, and we then propose a new graph-search method to bridge the gap between the path-planning and trajectory generation layers in the motion planning control hierarchy. The latter result is of independent theoretical interest, as it can be applied to any graph search problem when transitions between the nodes of the graph depend on the prior history of the path.