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.
@article{arxiv.2508.08108,
title = {Capsizing-Guided Trajectory Optimization for Autonomous Navigation with Rough Terrain},
author = {Wei Zhang and Yinchuan Wang and Wangtao Lu and Pengyu Zhang and Xiang Zhang and Yue Wang and Chaoqun Wang},
journal= {arXiv preprint arXiv:2508.08108},
year = {2025}
}