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Mobility prediction for unmanned ground vehicles in uncertain environments
MIT, USA.
MIT, USA.
2008 (English)In: Unmanned systems technology X: 17-20 March 2008, Orlando, Florida, USA, Bellingham, WA: SPIE - International Society for Optical Engineering, 2008, Article number 69621G- p.Conference paper, Published paper (Refereed)
Abstract [en]

The ability of autonomous unmanned ground vehicles (UGVs) to rapidly and effectively predict terrain negotiability is a critical requirement for their use on challenging terrain. Most methods for assessing traversability, however, assume precise knowledge of vehicle and terrain properties. In practical applications, uncertainties are associated with the estimation of the vehicle/terrain parameters, and these uncertainties must be considered while determining vehicular mobility. Here a computationally inexpensive method for efficient mobility prediction based on the stochastic response surface (SRSM) approach is presented that considers imprecise knowledge of terrain and vehicle parameters while analyzing various metrics associated with UGV mobility. A conventional Monte Carlo method and the proposed response surface methodology have been applied to two simulated cases of mobility analysis, and it has been shown that the SRSM method is an efficient tool as compared to conventional Monte Carlo methods for the analysis of vehicular mobility in uncertain environments.

Place, publisher, year, edition, pages
Bellingham, WA: SPIE - International Society for Optical Engineering, 2008. Article number 69621G- p.
Series
Proceedings of SPIE - The International Society for Optical Engineering, ISSN 0277-786X ; 6962
Keyword [en]
Homogeneous chaos, Latin hypercube sampling, Monte carlo, Stochastic response surface, Terrain modeling, Unmanned ground vehicle, Vehicle mobility, Vehicle rollover, Wheel-soil interaction
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20765DOI: 10.1117/12.782222ISI: 000257316300045Scopus ID: 2-s2.0-44349184211ISBN: 978-0-8194-7153-6 OAI: oai:DiVA.org:hh-20765DiVA: diva2:586734
Conference
Conference on Unmanned Systems Technology X,17-20 March 2008, Orlando, Florida, USA
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-01-29Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
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