Fast Local Planning and Mapping in Unknown Off-Road Terrain

10/18/2019

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by   Timothy Overbye, et al.

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21

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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.