Proprioceptive Control for a Robotic Vehicle over Geometric Obstacles

Abstract

In this paper, the authors describe a software system built to coordinate an autonomous vehicle with variable configuration ability operating in rough terrain conditions. The paper describes the system's architecture, with an emphasis on the action planning function. This is intended to work with a proprioceptive algorithm that continuously coordinates wheel torques and suspension forces and positions to achieve optimal terrain crossing performance.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA442266

Entities

People

  • Douglas Bakkum
  • Ernest Merrill
  • Kenneth J. Waldron
  • Muhammad Abdallah
  • Ronald C. Arkin

Organizations

  • Stanford University

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Actuators
  • Algorithms
  • Computational Processes
  • Computations
  • Coordinate Systems
  • Crossings
  • Failure Mode And Effect Analysis
  • Inequalities
  • Inertial Measurement Units
  • Measurement
  • Mechanical Engineering
  • Models
  • Navigation
  • Simulations
  • Traction
  • Unmanned Vehicles
  • Vehicles

Readers

  • Brain and Cognitive Science; Experimental Psychology; Cognitive Neuroscience
  • Computer Vision.
  • Control Systems Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy