Safe navigation in uneven terrains is an important problem in robotic research. In this paper we propose a 2.5D navigation system which consists of elevation map building, path planning and local path following with obstacle avoidance. For local path following we use Model Predictive Path Integral (MPPI) control method. We propose novel cost-functions for MPPI in order to adapt it to elevation maps and motion through unevenness. We evaluate our system on multiple synthetic tests and in a simulated environment with different types of obstacles and rough surfaces.

翻译：在不均匀的地形中安全航行是机器人研究中的一个重要问题。在本文件中,我们提议建立一个2.5D导航系统,包括高平面图、路径规划和避免障碍的本地路径。对于遵循的本地路径,我们使用模型预测路径综合控制法(MPPI)控制法。我们提议移动电话综合控制法的新的成本功能,以便使其适应高平面图和不均的移动。我们评估了我们关于多种合成试验的系统,以及在有不同类型障碍和粗糙表面的模拟环境中的系统。