Many applications require unmanned ground vehicles (UGVs) to travel at high speeds on sloped, natural terrain. Control of UGVs in these scenarios is difficult due to the inherent complexity in modeling terrain effect on vehicle motion. This research has studied methods for control of high speed UGVs through the use of simplified models of UGV dynamics and terrain interaction Simulation and experimental results gathered during this work has demonstrated the effectiveness of two distinct control approaches. Other work conducted under this grant has focused on modeling of omnidirectional vehicles. Future work will pursue control methods for high speed, omnidirectional UGVs in rough, uneven terrain.


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    Titel :

    Navigation and Hazard Avoidance for High-Speed Unmanned Ground Vehicles in Rough Terrain


    Beteiligte:
    K. Iagnemma (Autor:in)

    Erscheinungsdatum :

    2008


    Format / Umfang :

    72 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch







    Terrain estimation for high-speed rough-terrain autonomous vehicle navigation [4715-31]

    Iagnemma, K. D. / Dubowsky, S. / SPIE | British Library Conference Proceedings | 2002


    Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles

    S. J. Anderson / S. C. Peters / K. Iagnemma et al. | NTIS | 2010