Terrain-Aware Local Path Planning with Global DEM Data Integration for Autonomous UGV Navigation

arXiv:2608.17038v1 Announce Type: new Abstract: Autonomous navigation in complex outdoor terrains presents critical challenges for unmanned ground vehicles (UGVs) due to the inherent disconnect between global mapping and real-time sensor feedback. This work proposes a hybrid framework that integrates low-resolution Digital Elevation Model (DEM) data with real-time LiDAR-based obstacle detection and terrain analysis for efficient path planning. A global path is initially computed using a preprocessed DEM-based A* algorithm. Subsequently, local sensor data drives adaptive path correction, enabling the UGV to negotiate sudden environmental changes while maintaining safety and efficiency. Simulation results in Gazebo demonstrate significant improvements over a baseline approach, achieving a 95% obstacle avoidance rate and reducing the average encountered slope from 8^irc to 2.7^irc in custom terrain. This integration enhances path efficiency and terrain traversability and supports robust real-time adaptation, paving the way for more reliable autonomous navigation in dynamic outdoor environments.

Source: arXiv cs.RO | 2026-08-19