OFF-ROAD NAVIGATION FROM SELECTIVE STABILIZATION

This paper studies the problem of selective stabilization, defined here as the separation of rotation components due to smooth rotation and oscillatory rotation. In applications to off road navigation, in addition to the desired smooth attitude change, a vehicle undergoes high frequency vibration. Both kinematic and kinetic models suitable for capturing these phenomena and achieving their separation are considered. The approach uses various dynamic laws to model the behavior of the vehicle, and relies on Extended Kalman Filters for the estimation. Multiple visual clues are exploited to obtain the rotational parameters. A scheme for detecting the occurrence and disappearance of smooth rotation is devised. Appropriate dynamic laws are employed to achieve selective stabilization.

• Corporate Authors:

  University of Maryland, College Park

  Center for Automation Research
  College Park, MD  United States  20742
• Authors:
  • Yao, Y S
  • Chellappa, R
• Publication Date: 1995-8

Language

• English

Media Info

• Pagination: 32 p.

Subject/Index Terms

• TRT Terms: All terrain vehicles; Dynamic models; Kinematics; Kinetics; Navigation systems; Offroad traffic; Rotation; Soil stabilization
• Uncontrolled Terms: Stabilization
• Subject Areas: Geotechnology; Highways; Operations and Traffic Management; I95: Vehicle Inspection;

Filing Info

• Accession Number: 00729932
• Record Type: Publication
• Report/Paper Numbers: CAR-TR-784,, CS-TR-3509
• Files: TRIS
• Created Date: Dec 27 1997 12:00AM