Motion planning for an all-terrain autonomous vehicle

The use and integration of a novel planning approach for an all-terrain vehicle that is to navigate autonomously within an equatorial forest type terrain is described in this paper. The principles applied to the design of a global motion planner are included. The planner takes into account the kinematic and dynamic parameters of the vehicle as well as the constraints imposed by wheelground interactions. That is, it incorporates suitable physical models to deal with the task dynamics in the motion-planning paradigm. Data for local-tactical planning is provided by the on-board visual perception and obstacle detection modules, whilst a positioning system feeds data for global-strategic planning. A digital terrain map purveys the preliminary landmarks for planning purposes including information on th