Mobility-Dependent Motion Planning for High Speed Robotic Vehicles

Abstract

The ultimate objective of this work is to design planning and control architectures that enable autonomous vehicles to operate in open terrain without sacrificing speed and maneuverability. To this end, we develop mobility metrics for UGVs operating off-road at high-speed regimes, explore optimal algorithms to derive optimal paths for UGVs, and propose a framework for motion planning.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jul 25, 2008
Accession Number
ADA501566

Entities

People

  • Karl Iagnemma

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Ground and Sea Platforms
  • Space

DTIC Thesaurus Topics

  • Autonomous Systems
  • Autonomous Vehicles
  • Closed Loop Systems
  • Computational Science
  • Control Systems
  • Differential Equations
  • Information Science
  • Monte Carlo Method
  • Motion Planning
  • Probability Distributions
  • Random Variables
  • Robotics
  • Statistical Analysis
  • Theorems
  • Unmanned Ground Vehicles
  • Unmanned Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Control Systems Engineering.
  • Systems Analysis and Design
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy