Direction-dependent optimal path planning for autonomous vehicles

The optimal path planning problem is considered for rovers. Tip-over risk is accurately modelled using direction dependence. In the previous direction-independent model, the value function was approximated using the Fast Marching Method (FMM). The risk was not accurately modelled. Solar energy is considered here for the first time. Minimizing path length, obstacle avoidance and soil risk are also considered. For a direction-dependent model, the...