Felix A. Sanchez

Terrain-Aware Kinodynamic Planning with Efficiently Adaptive State Lattices for Mobile Robot Navigation in Off-Road Environments

To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle roll and pitch as a function of pose, vehicle suspension, and ground elevation map to weigh the cost of edges in the sear