Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles

Abstract

This paper presents a method for trajectory planning, threat assessment, and semi-autonomous control of manned and unmanned ground vehicles. A model predictive controller iteratively replans a stability-optimal trajectory through the safe region of the environment while a threat assessor and semiautonomous control law modulate driver and controller inputs to maintain stability, preserve controllability, and ensure that the vehicle avoids obstacles and hazardous areas. The efficacy of this approach in avoiding hazards while accounting for various types of human error, including errors caused by time delays, is demonstrated in simulation.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 2010
Accession Number
ADA541213

Entities

People

  • J. Overholt
  • K. Iagnemma
  • S. C. Peters
  • S. J. Anderson

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Autonomous Systems
  • Autonomous Vehicles
  • Collision Avoidance
  • Control Systems
  • Detectors
  • Ground Vehicles
  • Guidance
  • Military Applications
  • Model Predictive Control
  • Motion Planning
  • Passenger Vehicles
  • Simulations
  • Threat Evaluation
  • Trajectories
  • Unmanned Ground Vehicles
  • Vehicles
  • Warning Systems

Readers

  • Aviation Safety Risk Assessment.
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control