Planning stable trajectory on uneven terrain based on Feasible Acceleration Count

摘要: In this paper we propose a novel physics based motion planning and trajectory generation framework for vehicle operating on uneven terrains. The proposed provides fully 3D analysis of the dynamic constraints terrain hence comes as better approach than existing which makes simplifying assumptions conditions or geometry both. entire consists three major parts are: 1. A determination posture in given terrain. 2. maximum feasible velocities acceleration contact no-slip constraints. 3. Combining above two to generate trajectories vehicle. Trajectories are generated through Dynamic Window paradigm extended terrains, wherein next best node is selected new metric that maximizes space accelerations reduces distance be traversed goal