Simulating Off-Road Autonomous Navigation: Fast Simulation of Vegetation Override

Navigation in off-road terrains is a well-studied problem for self-driving and autonomous vehicles. Frequently cited concerns include features like soft soil, rough terrain, and steep slopes. In this paper, we present the important but less studied aspect of negotiating vegetation in off-road terrain. Using recent field measurements, we develop a fast running model for the resistance on a ground vehicle overriding both small vegetation like grass and larger vegetation like bamboo and trees. We implement of our override model into a 3D simulation environment, the MSU Autonomous Vehicle Simulator (MAVS), and demonstrate how this model can be incorporated into real-time simulation of autonomous ground vehicles (AGV) operating in off-road terrain. Finally, we show how this model can be used to simulate autonomous navigation through a variety of vegetation with a PID speed controller and measuring the effect of navigation through vegetation on the vehicle speed.