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Path Planning for Autonomous Vehicles Driving Over Rough Terrain



Alberto Lacaze, Yigal Moscovitz, Nicholas DeClaris, Karl Murphy


This paper presents a multiresolutional architec- ture of planners for obstacle avoidance in outdoor mobility. The planner makes use of o -line dynam- ical simulations results to eciently nd paths that avoid obstacles. The trajectories are generated by set of steering velocity commands. An implementation of the planner was developed and tested in a vehicle at the National Institute of Standards and Technol- ogy (NIST) with promising results. This approach of building the search space for the planner results realistic cost and trajectories for the vehicle.
Proceedings Title
Proceedings of the ISIC/CIRA/ISAS ''98 Conference
Conference Dates
September 14-17, 1998
Conference Location
Gaithersburg, MD
Conference Title
Gaithersburg (MD)


Mobility, Robotics & Intelligent Systems, Unmanned Systems, implementation of planner, obstacle avoidance, outdoor mobility, planner


Lacaze, A. , Moscovitz, Y. , DeClaris, N. and Murphy, K. (1998), Path Planning for Autonomous Vehicles Driving Over Rough Terrain, Proceedings of the ISIC/CIRA/ISAS ''98 Conference, Gaithersburg, MD, [online], (Accessed July 14, 2024)


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Created September 17, 1998, Updated February 17, 2017