Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain

Abstract

Unmanned ground vehicles have important applications in high speed, rough terrain scenarios. In these scenarios unexpected and dangerous situations can occur that require rapid hazard avoidance maneuvers. At high speeds, there is limited time to perform navigation and hazard avoidance calculations based on detailed vehicle and terrain models. This paper presents a method for high speed hazard avoidance based on the "trajectory space," which is a compact model-based representation of a robot's dynamic performance limits in rough, natural terrain. Simulation and experimental results on a small gasoline-powered unmanned ground vehicle demonstrate the method's effectiveness on sloped and rough terrain.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 2006
Accession Number
ADA593148

Entities

People

  • Karl Iagnemma
  • Matthew Spenko
  • Steven Dubowsky
  • Yoji Kuroda

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Autonomous Navigation
  • Autonomous Vehicles
  • Collision Avoidance
  • Computer Programs
  • Global Positioning Systems
  • Ground Vehicles
  • Inertial Navigation
  • Navigation
  • Navigational Equipment
  • Robot Navigation
  • Robots
  • Simulations
  • Trajectories
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Vehicles
  • Vehicles

Readers

  • Computational Modeling and Simulation
  • Hydraulic Engineering.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Space
  • Space - Orbital Debris
  • Space - Spacecraft Maneuvers