The ultimate objective of this work is to design planning and control architectures that enable autonomous vehicles to operate in open terrain without sacrificing speed and maneuverability. To this end, we develop mobility metrics for UGVs operating off-road at high-speed regimes, explore optimal algorithms to derive optimal paths for UGVs, and propose a framework for motion planning.
Mobility-Dependent Motion Planning for High Speed Robotic Vehicles
2008
73 pages
Report
No indication
English
Computers, Control & Information Theory , Navigation Systems , Combat Vehicles , Robotics , Autonomous navigation , Ground vehicles , Computations , Management planning and control , Network architecture , Motion , Monte carlo method , Self operation , Stochastic control , Maneuverability , Mobility , Algorithms , Paths , Ugv(Unmanned ground vehicles)
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