Traversability assessment for wheeled vehicles using point cloud data with vehicle geometric and kinematic constraints

Abstract

Subject of research: simulation and mathematical modeling methods for robot mechanics, algorithms for constructing cross-country maps, and methods for identifying and integrating the characteristics of a specific wheeled platform. Purpose of research: a method for constructing a global obstacle map that takes into account the interaction of a wheeled vehicle platform with terrain. Research methods: methods of terrain traversability analysis, simulation modeling, processing of sensory data, formalization of obstacle criteria and geometric constraints. Objects of research: the process of constructing an adaptive obstacle map for wheeled vehicles taking into account the interaction of the platform with the terrain. Research findings: a method for constructing a comprehensive assessment of the cross-country ability of an environment has been developed, taking into account the design and kinematic characteristics of the platform and the geometric properties of the environment.