Online trajectory optimization using receding horizon guidance control for rovers

In recent years, the application of unmanned ground vehicle (UGV) in the event of disaster is attracting attention. The development of the autonomous UGV with real-time trajectory optimization for disaster assistance is required. To develop the autonomous UGV, receding horizon guidance control (RHGC) and waypoint generation algorithm are proposed in this paper. The RHGC is developed for guidance control with the real-time trajectory optimization. The waypoint generation algorithm is developed for collision avoidance. The simulations are held to evaluate the usability of the RHGC and the waypoint generation algorithm. It is confirmed that the RHGC and the waypoint generation algorithm are useful for the development of the autonomous UGV.