An Intelligent Predictive Controller for Autonomous Vehicles

Abstract

Performance of high speed rough terrain autonomous vehicles is compromised by inadequate real time response characteristics, poor models of vehicle dynamics and terrain following, and suboptimal allocation of limited computational resources. A new approach to high speed rough terrain autonomy is presented which solves these problems through a real-time managed response time strategy, a 3D state space dynamic's and terrain following model, and minimum throughput adaptive perception and planning strategies. The system which has been implemented is called RANGER. This report overviews the implementation of the RANGER code

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Document Details

Document Type
Technical Report
Publication Date
May 02, 1994
Accession Number
ADA282852

Entities

People

  • Alonzo Kelly

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Autonomous Navigation
  • Autonomous Systems
  • Collision Avoidance
  • Computer Programs
  • Control Systems
  • Coordinate Systems
  • Failure Mode And Effect Analysis
  • Geometry
  • Guidance
  • Image Processing
  • Motion Planning
  • Navigation
  • Operating Systems
  • Reliability
  • Robots
  • Three Dimensional
  • Two Dimensional

Readers

  • Computational Fluid Dynamics (CFD)
  • Economics
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers