Fast Local Planning and Mapping in Unknown Off-Road Terrain

TL;DR

This paper introduces a real-time off-road planning and mapping system that combines obstacle detection, terrain mapping, and trajectory optimization to enable high-speed navigation in unknown environments.

Contribution

The authors develop a fast, online mapping and planning framework that operates at 30 Hz, integrating obstacle detection, terrain mapping, and trajectory sampling for off-road navigation.

Findings

Operates at 30 Hz in real-time

Effective in various high-speed off-road terrains

Enables fast, adaptive path planning in unknown environments

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.