Modification of Target attitude angle in Path-generating regulator by Terrain Traversability Mapping

Abstract

Conventional path-generating regulator (PGR), a control method for four-wheeled vehicles, does not take into account terrain specific to uneven ground that may cause tipping over or getting stuck. In this study, a mapping method called Terrain Traversability Mapping is used to create a map that expresses the traversability of the terrain, and the target attitude angle of the PGR is modified to an angle that takes the terrain into account. Then, the traversability of the PGR is verified by the simulation using the software, CoppeliaSim.