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Potential Field Navigation of High Speed Unmanned Ground Vehicles on Uneven Terrain
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States.
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States.
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States.
2005 (English)In: Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, Washington, DC: IEEE Computer Society, 2005, 2828-2833 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper proposes a potential field-based method for high speed navigation of unmanned ground vehicles (UGVs) on uneven terrain. A potential field is generated in the two-dimensional “trajectory space” of the UGV path curvature and longitudinal velocity. Dynamic constraints, terrain conditions, and navigation conditions can be expressed in this space. A maneuver is chosen within a set of performance bounds, based on the potential field gradient. In contrast to traditional potential field methods, the proposed method is subject to local maximum problems, rather than local minimum. It is shown that a simple randomization technique can be employed to address this problem. Simulation and experimental results show that the proposed method can successfully navigate a UGV between pre-defined waypoints at high speed, while avoiding unknown hazards. Further, vehicle velocity and curvature are controlled to avoid rollover and excessive side slip. The method is computationally efficient, and thus suitable for on-board real-time implementation.

Place, publisher, year, edition, pages
Washington, DC: IEEE Computer Society, 2005. 2828-2833 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
Hazards, Land vehicles, Mechanical engineering, Military computing, Mobile robots, Navigation, Path planning, Remotely operated vehicles, Space vehicles, Vehicle dynamics, Autonomous control, Potential field, UGVs
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20838DOI: 10.1109/ROBOT.2005.1570542ISI: 000235460102072Scopus ID: 2-s2.0-33846143524ISBN: 0-7803-8914-X ISBN: 978-078038914-4 OAI: oai:DiVA.org:hh-20838DiVA: diva2:586696
Conference
IEEE International Conference on Robotics and Automation (ICRA), Barcelona, SPAIN, APR 18-22, 2005
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-05Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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Output format
  • html
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  • asciidoc
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