  We present a method for path optimization for ground vehicles in off-road
environments at high speeds. This path optimization considers the kinematic
constraints of the vehicle. By thinking in the actuator space we can represent
these constraints as limits in the space rather than derived properties of the
path. In this paper we present a actuator space approach to path optimization
for off-road ground vehicles. This is done by representing and operation on the
path as a list of steering angles over the path length. This transforms the set
of kinematic constraints into constraints on the steering angle. We then put
this path into a gradient descent solver. This produced paths that are
kinematically feasible and optimized in accordance with our cost function.
Finally, we tested the system both in simulation and on an off-road vehicle at
speeds of 5 m/s.
