Trajectory planning of unmanned ground vehicles evolving on an uneven terrain with vertical dynamic consideration

In this paper, we treat the problem of trajectory planning of an unmanned ground vehicle evolving on an uneven terrain. In such environment, the role of the suspension system cannot be neglected and a vehicle vertical model has to be taken into account. In the present work, we present three reduced models with different level of complexity. These models make possible to handle the constraints inherent to stability, embedded equipment safety and suspension mechanical integrity. An optimization problem is also formulated in order to define the optimal speed profile for a safety behaviour of the mobile robot.