Offroad Autonomy for Heavy Machinery
R2026bDevelop autonomous systems for offroad vehicles and heavy machinery in construction, agriculture, and mining applications with the Robotics System Toolbox™ Offroad Autonomy Library. This support package provides specialized tools for designing, simulating, and testing autonomy algorithms. Through integration with Unreal Engine®, this support package enables photorealistic scenario simulations to test and refine the performance of offroad vehicles, such as dump trucks and backhoes, under diverse conditions.
To download the Robotics System Toolbox Offroad Autonomy Library support package, see Install Robotics System Toolbox Offroad Autonomy Library Support Package.
For more information about using Unreal Engine with Robotics System Toolbox, see Unreal Engine Scenario Simulation.
Functions
Blocks
 | Simulation 3D Scene Configuration | Scene configuration for 3D simulation environment |
 | Simulation 3D Lidar | Lidar sensor model in 3D simulation environment (Since R2024a) |
 | Simulation 3D Camera | Camera sensor model with lens in 3D simulation environment (Since R2024a) |
 | Simulation 3D Agricultural Tractor | Agricultural tractor with ground following in 3D simulation environment (Since R2026b) |
 | Simulation 3D Haul Truck | Haul truck with ground following in 3D simulation environment (Since R2026b) |
 | Simulation 3D Physics Dump Truck | Dump truck physics model in 3D simulation environment (Since R2024a) |
 | Simulation 3D Physics Backhoe | Backhoe physics model in 3D simulation environment (Since R2024b) |
 | Four-Wheel Ground Following | Compute terrain-aligned 3-D pose for four-wheeled vehicle (Since R2026b) |
 | Simulation 3D Four-Wheel Ground Following | Adjust vehicle chassis pose to align with terrain geometry (Since R2026b) |
 | Chassis To Tree-Frame Motion | Transform motion from chassis frame to rigid body tree frame (Since R2026b) |
 | Vehicle Wheel Joint Configuration | Compute wheel joint configuration for front-steered vehicle wheel spin visualization (Since R2026b) |
 | Bicycle MPPI Controller | Control motion planning of bicycle vehicle model using Model Predictive Path Integral (MPPI) (Since R2025a) |
 | Ackermann MPPI Controller | Control motion planning of Ackermann vehicle model using Model Predictive Path Integral (MPPI) (Since R2025a) |
 | Differential Drive MPPI Controller | Control motion planning of differential drive vehicle model using Model Predictive Path Integral (MPPI) (Since R2025a) |
 | Articulated Steering MPPI Controller | Control motion planning of articulated steering vehicle model using Model Predictive Path Integral (MPPI) (Since R2025b) |
Scenes
| Offroad Pit Mining Scene | Offroad pit mining scene in Unreal Engine environment |
| Construction Site Scene | Construction site scene in Unreal Engine environment |
| Rolling Vineyard | Vineyard on rolling hills in Unreal Engine environment |
Topics
Offroad Vehicle Library
- Offroad Vehicle Library
Predefined offroad vehicle models for simulation and autonomy workflows (Since R2026b) - Plan and Follow Path with Offroad Vehicle
Load a vehicle from the Offroad Vehicle Library, plan a collision-free path, and follow it using an MPPI controller. (Since R2026b)
Reference Applications
- Offroad Navigation for Autonomous Haul Trucks in Open Pit Mine
Series shows how to create a set of planners to enable autonomous haul trucks to navigate uneven terrain and avoid obstacles. (Since R2024a)
- STEP 1: Create Route Planner for Offroad Navigation Using Digital Elevation Data
- STEP 2: Create Onramp and Terrain-Aware Global Planners for Offroad Navigation
- STEP 3: Navigate Global Path Through Offroad Terrain Using Local Planner
- STEP 4: Create Path Following Model Predictive Controller
- STEP 5: Model and Control Autonomous Vehicle in Offroad Scenario
Path Following Topic
- Introduction to Model Predictive Path Integral (MPPI) Controller
Path planning using Model Predictive Path Integral (MPPI) with adaptable vehicle models. (Since R2026a)
Support Package Set Up
- Install Robotics System Toolbox Offroad Autonomy Library Support Package
Use Add-On for designing, simulating, and validating algorithms for offroad heavy machinery.
Featured Examples
Simulate Earth Moving with Autonomous Excavator in Construction Site
Simulate ground excavation to create a depression and move spoil to dump truck and further relocate it to another site.
Offroad Navigation for Autonomous Haul Trucks in Open Pit Mine
Series shows how to create a set of planners to enable autonomous haul trucks to navigate uneven terrain and avoid obstacles.
Simulate Construction Vehicles in Unreal Engine for Material Handling
Set up a simulation in which backhoe loads construction bricks into a dump truck in an Unreal Engine construction site scene.
Drive Agricultural Tractor in Vineyard Using Unreal Engine
Drive an agricultural tractor through a vineyard scene in Unreal Engine.
Generate Synthetic Sensor Data for Localization Using Unreal Engine
Simulate IMU and monocular camera data in Unreal Engine to develop and validate state estimation algorithms.
Simulate Ground Following and Visualize Robot on Terrain
Simulate a four-wheeled robot following terrain and visualize the robot animation on the terrain surface, without requiring Unreal Engine or any 3-D simulation environment.
Generate Traversability Map for Offroad Terrain Using Semantic Segmentation
Create real-time traversability map for offroad terrain by fusing semantic segmentation from camera images with lidar point clouds.
Constrain Links of Excavator for Earth Moving
Solve joint angles for excavator digging, grading, and unloading trajectories with GIK.
Survey Pit Mining Site with RTK GPS and Point Clouds
Generate a digital elevation model (DEM) of a site using real-time kinematic (RTK) GPS and aerial lidar data.
