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A Planning System for Autonomous Ground Vehicles Operating in Unstructured Dynamic Environments

This paper describes the design and implementation of a path planning system for an autonomous ground vehicle. The system is designed to be flexible, allowing any planning algorithm to be used and any topology of data to be planned over. It employs a hierarchical separation of two planning modules in conjunction with a vehicle model, to achieve continued vehicle motion while planning and the ability to act as either a deliberative or reactive planner, or a hybrid of both types. Results from both simulation and field trials are presented, and demonstrate the effectiveness of this architecture on a large outdoor ground vehicle. The contributions of this paper are twofold: a flexible planning system capable of large scale missions for autonomous vehicles; and the use of a vehicle model to determine the requirements for safe operation without slowing the vehicle, and the conditions under which this cannot be achieved.