SYSTEMS AND METHODS FOR CONTROLLING A ROBOTIC VEHICLE

A system and a method for controlling movement of a robotic vehicle (200). The robotic vehicle (200) comprises a computer system (210), a chassis controller (220), and a plurality of sensors. Data measured by the plurality of sensors is received by the computer system (210). A base trajectory and an emergency trajectory for the robotic vehicle (200) are generated based on the data. During normal operations of the robotic vehicle the chassis controller (220) causes the robotic vehicle to travel along the base trajectory. After determining that an error has occurred, the chassis controller (220) causes the robotic vehicle (200) to travel along the emergency trajectory.