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.


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    Title :

    Mobility-Dependent Motion Planning for High Speed Robotic Vehicles


    Contributors:
    K. Iagnemma (author)

    Publication date :

    2008


    Size :

    73 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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