Achieving Increased Mobility and Autonomy for Ground Vehicles Over Rough Terrain

Abstract

We summarize some recent results on modeling and control of ground vehicles navigating in high-speed over rough terrain. We start with the modeling of expert race (rally) driving techniques, and we then propose a new graph-search method to bridge the gap between the path-planning and trajectory generation layers in the motion planning control hierarchy. The latter result is of independent theoretical interest, as it can be applied to any graph search problem when transitions between the nodes of the graph depend on the prior history of the path.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2008
Accession Number
ADA505700

Entities

People

  • Panagiotis Tsiotras
  • Raghvendra V Cowlagi

Organizations

  • Georgia Tech

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Space

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Autonomous Vehicles
  • Cells
  • Computational Complexity
  • Control Systems
  • Curvature
  • Demographic Cohorts
  • Geometry
  • Ground Vehicles
  • Military Applications
  • Motion Planning
  • Reaction Time
  • Standards
  • Trajectories
  • Unmanned Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Distributed Systems and Data Platform Development
  • Logistics and Supply Chain Management.
  • Systems Analysis and Design