Fast Local Planning and Mapping in Unknown Off-Road Terrain
Timothy Overbye,Srikanth Saripalli,Timothy Overbye,Srikanth Saripalli
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...
