{"ID":2883822,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.08108","arxiv_id":"2508.08108","title":"Capsizing-Guided Trajectory Optimization for Autonomous Navigation with Rough Terrain","abstract":"It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary challenge is to generate a feasible trajectory that prevents robot from tip-over while ensuring effective navigation. In this paper, we propose a capsizing-aware trajectory planner (CAP) to achieve trajectory planning on the uneven terrain. The tip-over stability of the robot on rough terrain is analyzed. Based on the tip-over stability, we define the traversable orientation, which indicates the safe range of robot orientations. This orientation is then incorporated into a capsizing-safety constraint for trajectory optimization. We employ a graph-based solver to compute a robust and feasible trajectory while adhering to the capsizing-safety constraint. Extensive simulation and real-world experiments validate the effectiveness and robustness of the proposed method. The results demonstrate that CAP outperforms existing state-of-the-art approaches, providing enhanced navigation performance on uneven terrains.","short_abstract":"It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary challenge is to generate a feasible trajectory that prevents robot from tip-over w...","url_abs":"https://arxiv.org/abs/2508.08108","url_pdf":"https://arxiv.org/pdf/2508.08108v1","authors":"[\"Wei Zhang\",\"Yinchuan Wang\",\"Wangtao Lu\",\"Pengyu Zhang\",\"Xiang Zhang\",\"Yue Wang\",\"Chaoqun Wang\"]","published":"2025-08-11T15:47:24Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}