Timothy Overbye

2 accepted papers

2021

Path Optimization for Ground Vehicles in Off-Road Terrain

ICRA 2021poster

We present a method for path optimization for ground vehicles in off-road environments at high speeds. This path optimization considers the kinematic constraints of the vehicle. By thinking in the actuator space we can represent such constraints as limits in the space rather than derived properties…

Cited by 14 Source ↗Scholar ↗

2020

Fast Local Planning and Mapping in Unknown Off-Road Terrain

Timothy Overbye, Srikanth Saripalli

ICRA 2020poster

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 p…

Cited by 20 Source ↗Scholar ↗