4 papers
A Terrain-Adaptive epsilon-Constraint MPC for Uneven Terrain Kinodynamic Planning
Otobong Jerome, Geesara Kalathunga, Tiago Nascimento
Kinodynamic planning for car-like vehicles on uneven terrain requires simultaneously optimizing competing objectives such as path efficiency and pose stability. This work presents…
A Real-Time Framework for Intermediate Map Construction and Kinematically Feasible Off-Road Planning Without OSM
Otobong Jerome, Geesara Prathap Kulathunga, Devitt Dmitry +2
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically ai…
On Kinodynamic Global Planning in a Simplicial Complex Environment: A Mixed Integer Approach
Otobong Jerome, Alexandr Klimchik, Alexander Maloletov +1
This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to…
A Genetic Approach to Gradient-Free Kinodynamic Planning in Uneven Terrains
Otobong Jerome, Alexandr Klimchik, Alexander Maloletov +1
This paper proposes a genetic algorithm-based kinodynamic planning algorithm (GAKD) for car-like vehicles navigating uneven terrains modeled as triangular meshes. The algorithm's d…