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High-speed navigation of unmanned ground vehicles on uneven terrain using potential fields
MIT, USA.
MIT, USA.
MIT, USA.
2007 (English)In: Robotica (Cambridge. Print), ISSN 0263-5747, E-ISSN 1469-8668, Vol. 25, no 4, 409-424 p.Article in journal (Refereed) Published
Abstract [en]

Many applications require unmanned ground vehicles (UGVs) to travel at high speeds on sloped, natural terrain. In this paper, a potential field-based method is proposed for UGV navigation in such scenarios. In the proposed approach, a potential field is generated in the twodimensional "trajectory space" of the UGV path curvature and longitudinal velocity. In contrast to traditional potential field methods, dynamic constraints and the effect of changing terrain conditions can be easily expressed in the proposed framework. A maneuver is chosen within a set of performance bounds, based on the local potential field gradient. It is shown that the proposed method is subject to local maxima problems, rather than local minima. A simple randomization technique is proposed to address this problem. Simulation and experimental results show that the proposed method can successfully navigate a small UGV between predefined waypoints at speeds up to 7.0 m/s, while avoiding static hazards. Further, vehicle curvature and velocity are controlled during vehicle motion to avoid rollover and excessive side slip. The method is computationally efficient, and thus suitable for onboard real-time implementation. © 2007 Cambridge University Press.

Place, publisher, year, edition, pages
Cambridge: Cambridge University Press, 2007. Vol. 25, no 4, 409-424 p.
Keyword [en]
Mobile robots, Motion planning, Outdoor terrain, Potential fields
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20772DOI: 10.1017/S0263574706003171ISI: 000249131300003Scopus ID: 2-s2.0-34547149532OAI: oai:DiVA.org:hh-20772DiVA: diva2:586727
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-01-29Bibliographically approved

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Iagnemma, Karl
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CiteExportLink to record
Permanent link

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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
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf