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Hazard avoidance for high-speed mobile robots in rough terrain
MIT, USA.
MIT, USA.
MIT, USA.
MIT, USA.
2006 (engelsk)Inngår i: Journal of Field Robotics, ISSN 1556-4959, Vol. 23, nr 5, s. 311-331Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

Unmanned ground vehicles have important applications in high speed rough terrain scenarios. In these scenarios, unexpected and dangerous situations can occur that require rapid hazard avoidance maneuvers. At high speeds, there is limited time to perform navigation and hazard avoidance calculations based on detailed vehicle and terrain models. This paper presents a method for high speed hazard avoidance based on the "trajectory space," which is a compact model-based representation of a robot's dynamic performance limits in rough, natural terrain. Simulation and experimental results on a small gasoline-powered unmanned ground vehicle demonstrate the method's effectiveness on sloped and rough terrain. © 2006 Wiley Periodicals, Inc.

sted, utgiver, år, opplag, sider
Hoboken, NJ: John Wiley & Sons, 2006. Vol. 23, nr 5, s. 311-331
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20782DOI: 10.1002/rob.20118ISI: 000246146300002Scopus ID: 2-s2.0-33745686569OAI: oai:DiVA.org:hh-20782DiVA, id: diva2:586722
Tilgjengelig fra: 2013-01-12 Laget: 2013-01-12 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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