  Safe navigation in uneven terrains is an important problem in robotic
research. In this paper we propose a 2.5D navigation system which consists of
elevation map building, path planning and local path following with obstacle
avoidance. For local path following we use Model Predictive Path Integral
(MPPI) control method. We propose novel cost-functions for MPPI in order to
adapt it to elevation maps and motion through unevenness. We evaluate our
system on multiple synthetic tests and in a simulated environment with
different types of obstacles and rough surfaces.
