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In this paper, we propose deliberative upper-level behavior planning method for UGV with actively articulated suspension to negotiate geometric obstacle. Proposed deliberative planning method used Q-learning with the expert model for negotiating specific obstacle type. We modify the centipede locomotion pattern to the suspensions' locomotion and define the MDP using it. In 2D space, we define the...
The behavior control method was usually adapted for controlling the suspension configuration which determines the traversability of the UGV with actively articulated suspension. In this paper, we proposed a method of configuration planning of the suspension without any detail geometric data of terrain. The terrain was estimated by the traces of each wheel and the behavior plans for the desired upper...
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