Safe and Fast Motion Planning for UGV on Unknown Uneven Terrain via Terrain Safety Corridors and CBF Constraints

Autonomous navigation on unknown uneven terrain remains a critical challenge for unmanned ground vehicle (UGV) deployed in unstructured environments such as disaster relief, wilderness exploration, and off-road logistics. Existing motion planning methods for such environments suffer from three key l...

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Bibliographic Details

Main Authors:	Xingyang Feng, Hua Cong, Mianhao Qiu
Format:	Artigo
Language:	Inglês
Published:	MDPI AG 2026-06-01
Series:	Drones
Subjects:	motion planning uneven terrain traversability assessment control barrier functions trajectory optimization unmanned ground vehicle
Online Access:	https://www.mdpi.com/2504-446X/10/6/440
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