Patent ID: 7272474
Filing Date: 2007-09-18
Classification: G01C

Abstract:
1. A method for estimating navigability of terrain, the method comprising: estimating a terrain map based on range data points gathered by electromagnetic perception from a vehicle, the map composed of a series of terrain cells; estimating at least one of predicted roll angle data, predicted pitch angle data, and predicted ground clearance data based on the estimated terrain map for at least one respective particular terrain cell and vehicular constraint data; determining at least one of vehicle control data and vehicle state data for terrain cells within the terrain along a planned path of the vehicle based on the estimations; sensing at least one of actual roll angle data, actual pitch angle data, and actual ground clearance data for the at least one particular terrain cell when the vehicle is coextensively positioned within the corresponding particular terrain cell for which an estimation has been made; and adjusting at least one of the terrain map, the vehicle control data, and vehicle state data based on the sensed actual data.