Fast Local Planning and Mapping in Unknown Off-Road Terrain Academic Article uri icon


  • 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.

published proceedings

  • 2020 IEEE International Conference on Robotics and Automation (ICRA)

author list (cited authors)

  • Overbye, T., & Saripalli, S.

citation count

  • 2

complete list of authors

  • Overbye, Timothy||Saripalli, Srikanth

publication date

  • August 2020