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Experimental Validation of High Speed Hazard Avoidance Control for Unmanned Ground Vehicles
Massachusetts Institute of Technology, Cambridge, MA, USA.
Massachusetts Institute of Technology, Cambridge, MA, USA.
Massachusetts Institute of Technology, Cambridge, MA, USA.
2006 (English)In: Proceedings of the 8th International IFAC Symposium on Robot Control, SYROCO, Oxford: International Federation of Automatic Control , 2006, Vol. 8, 604-609 p.Conference 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, 604-609 p.
Series
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; Vol. 8, part 1
Keyword [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: 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.

Available from: 2013-01-13 Created: 2013-01-13 Last updated: 2015-08-07Bibliographically approved

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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
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  • asciidoc
  • rtf