Kinodynamic motion planning for all-terrain wheeled vehicles

We present a two-level algorithm that incorporates appropriate physical models of the robot, the terrain and their interaction to cope with kinodynamic aspects in all-terrain vehicle motion planning. The high planning level expands a tree of sub-goals in a low dimensional subset of the robot C-space considering a simplified 2D instance of the locomotion task. The second planning level considers locally the full set of task constraints and makes use of a state space formulation to find feasible trajectories and actuator controls moving the robot between adjacent sub-goals. We demonstrate our approach in the case of a six-wheeled articulated vehicle