We summarize some recent results on modeling and control of ground vehicles navigating in high-speed over rough terrain. We start with the modeling of expert race (rally) driving techniques, and we then propose a new graph-search method to bridge the gap between the path-planning and trajectory generation layers in the motion planning control hierarchy. The latter result is of independent theoretical interest, as it can be applied to any graph search problem when transitions between the nodes of the graph depend on the prior history of the path.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Achieving Increased Mobility and Autonomy for Ground Vehicles Over Rough Terrain


    Beteiligte:
    P. Tsiotras (Autor:in) / R. V. Cowlagi (Autor:in)

    Erscheinungsdatum :

    2008


    Format / Umfang :

    9 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Reference Path Correction for Autonomous Ground Vehicles Driving Over Rough Terrain

    Wang, Shaobo / Zhao, Pan / Zheng, Yanghao et al. | IEEE | 2019


    Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain

    Schwarz, Max / Schüller, Sebastian / Lenz, Christian et al. | Springer Verlag | 2017




    Wind Flow Over Rough Terrain

    Ginevsky, A.S. / Zhelannikov, A.I. | Springer Verlag | 2009