Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain

When it comes to high speed rough terrain scenarios, unmanned ground vehicles have important applications. Unexpected and dangerous situations can occur in these scenarios that require rapid hazard avoidance maneuvers. There is limited time at high speeds to perform navigation and hazard avoidance calculations based on detailed vehicle and terrain models. A method for high speed hazard avoidance based on "trajectory space" is presented in this paper. This method is a compact model-based representation of a robot’s dynamic performance limits in rough, natural terrain. The method's effectiveness on sloped and rough terrain is demonstrated through simulation and experimental results on a small gasoline-powered unmanned ground vehicle.

Language

  • English

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Filing Info

  • Accession Number: 01523174
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Apr 7 2014 9:13AM