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Performance Characterization of a Point‐Cloud‐Based Path Planner in Off‐Road Terrain.

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Title: Performance Characterization of a Point‐Cloud‐Based Path Planner in Off‐Road Terrain.
Authors: Majhor, Casey D.1 (AUTHOR) cmajhor@mtu.edu, Bos, Jeremy P.1 (AUTHOR)
Source: Journal of Field Robotics. Mar2026, Vol. 43 Issue 2, p695-716. 22p.
Subjects: Robotic path planning, Digital computer simulation, Computer performance, Relief models, Mathematical optimization
Abstract: We present a comprehensive evaluation of a point‐cloud‐based navigation stack, MUONS, for autonomous off‐road navigation. Performance is characterized by analyzing the results of 30,000 planning and navigation trials in simulation and validated through field testing. Our simulation campaign considers three kinematically challenging terrain maps and twenty combinations of seven path‐planning parameters. In simulation, our MUONS‐equipped AGV achieved a 0.98 success rate and experienced no failures in the field. By statistical and correlation analysis, we determined that the Bi‐RRT expansion radius used in the initial planning stages is most correlated with performance in terms of planning time and traversed path length. Finally, we observed that the proportional variation due to changes in the tuning parameters is remarkably well correlated to performance in field testing. This finding supports the use of Monte‐Carlo simulation campaigns for performance assessment and parameter tuning. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
Description
Abstract:We present a comprehensive evaluation of a point‐cloud‐based navigation stack, MUONS, for autonomous off‐road navigation. Performance is characterized by analyzing the results of 30,000 planning and navigation trials in simulation and validated through field testing. Our simulation campaign considers three kinematically challenging terrain maps and twenty combinations of seven path‐planning parameters. In simulation, our MUONS‐equipped AGV achieved a 0.98 success rate and experienced no failures in the field. By statistical and correlation analysis, we determined that the Bi‐RRT expansion radius used in the initial planning stages is most correlated with performance in terms of planning time and traversed path length. Finally, we observed that the proportional variation due to changes in the tuning parameters is remarkably well correlated to performance in field testing. This finding supports the use of Monte‐Carlo simulation campaigns for performance assessment and parameter tuning. [ABSTRACT FROM AUTHOR]
ISSN:15564959
DOI:10.1002/rob.70059