Obstacle-overcoming algorithm for unmanned ground vehicle with actively articulated suspensions on unstructured terrain

Traversability of UGV working on unstructured terrain is one of the main functions. We proposed the framework of algorithm to enhance the traversability of the vehicle by overcoming various geometric obstacles. The algorithm consists of obstacle-classification and scenario-manager. Obstacle-classification algorithm extracts ldquoKey Pointrdquo from the 3D terrain map and constructs terrain parameters. Parameterized terrain was classified into specific category by matching the parameters to obstacle templates with fuzzy logics. Scenario-managing algorithm manages the scenario from the obstacle templates. The scenario is made up with several main steps. The algorithm divides each main step of scenario into two sub-layers and each layer consists of sub-steps. Every step has F-variable and N-variable, which determine which step the algorithm will operate in next iteration and transfer the proper command set to algorithm. Those determinations were followed by pre-defined rules. Proposed algorithm was evaluated by simulation and UGV could overcome various geometric obstacles successfully.