Non-parametric Learning to Aid Path Planning over Slopes

In this paper we address the problem of closing the loop from perception to action selection for unmanned ground vehicles, with a focus on navigating slopes. A new non-parametric learning technique is presented to generate a mobility representation where the maximum feasible speed is used as a criterion to classify the world. The inputs to the algorithm are terrain gradients derived from an elevation map and past observations of wheel slip. It is argued that such a representation can aid in path planning with improved selection of vehicle heading and velocity in off-road slopes. In addition, an information theoretic test is proposed to validate a chosen proprioceptive representation (such as slip) for mobility map generation. Results of mobility map generation and its benefits to path planning are shown.