Experimental Validation of High Speed Hazard Avoidance Control for Unmanned Ground Vehicles
2006 (English)In: Proceedings of the 8th International IFAC Symposium on Robot Control, SYROCO, Oxford: International Federation of Automatic Control , 2006, Vol. 8, p. 604-609Conference paper, Published paper (Refereed)
Abstract [en]
At high speeds in natural terrain, unmanned ground vehicles can experience unexpected situations that require rapid hazard avoidance maneuvers. In these scenarios there is often limited time to replan a path based on high-order dynamic models. This paper presents a novel method for high speed navigation and hazard avoidance based on the two dimensional “trajectory space,” a compact and computationally efficient model-based representation of a robot’s dynamic performance limits on natural terrain. This paper also presents a novel method for trajectory replanning, based on a “curvature matching” technique. Experimental results on a small high-speed UGV demonstrate the method’s effectiveness. © 2005 IFAC
Place, publisher, year, edition, pages
Oxford: International Federation of Automatic Control , 2006. Vol. 8, p. 604-609
Series
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; Vol. 8, part 1
Keywords [en]
Autonomous Mobile Robots, Obstacle Avoidance
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20863DOI: 10.3182/20060906-3-IT-2910.00101Scopus ID: 2-s2.0-80051587980ISBN: 978-3-902661-16-6 OAI: oai:DiVA.org:hh-20863DiVA, id: diva2:586875
Conference
8th IFAC International Symposium on Robot Control (SYROCO 2006), Bologna, Italy, 6-8 September, 2006
Note
This research was supported by the U.S. Army Tank-automotive and Armaments Command and the Defense Advanced Research Projects Agency.
2013-01-132013-01-132018-03-22Bibliographically approved