Off-Road Fast Navigation Ground Vehicle Speed Planning Using Range Data

This paper addresses the problem of determining the maximum allowable speed (V) of a vehicle traversing off-road terrains. The calculated maximum speed achieves the fastest navigation without exceeding an allowable range of transmitted force (Fall) to the vehicle's frame. The proposed system also enables the vehicle to transit between different terrains safely. The system's input are: i)a 3D range image of the terrain and ii)the vehicle dimensions. The terrain roughness is assessed; then the corresponding maximum allowable speed is calculated. In this paper the novel Roughness Index (RI) is used to represent the terrain roughness. This index is calculated based on the standard deviation of the terrain points (3D range image) elevations. A closed form expression of the maximum allowable vehicle speed is developed (as function of the vehicle's properties, Fall, RI, and probability of not exceeding Fall). The proposed system can be used as a driver assistant system to enhance the vehicle performance, increase its life time, and reduce the maintenance cost. In addition, it is a key module in Unmanned Ground Vehicles (UGVs) navigation systems. This module provides the navigation system by information necessary for path and speed planning.