An adaptive guidance technique which provides a self-correcting path following capability in an environment sensitive semi-autonomous roving robot is described. A real-time maneuver planning function performs tradeoffs between speed, magnitude of expected deviations and accelerations to best satisfy the design goals of vehicle safety and reliability, subsystem autonomy, performance accuracy and operational efficiency. The appropriate combination of maneuver parameters is selected through an iterative process using knowledge of vehicle performance characteristics, environmental model updates and vehicle state


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    Title :

    A discrete adaptive guidance system for a roving vehicle


    Contributors:

    Conference:

    Conference on Decision and Control, and Symposium on Adaptive Processes, 16th, and Special Symposium on Fuzzy Set Theory and Applications ; 1977 ; New Orleans, LA


    Publication date :

    1977-01-01


    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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