David Coombs, Karl Murphy, Alberto Lacaze, Steven Legowik
A robotic HMMWV (a.k.a. "humvee") drives autonomously offroad at speeds up to 35 km/h (10 m/s, 20 mph). Key features of the implementation that enable driving at these speeds are (1) planning the next 20 m with dynamically feasible trajectories, and (2) increasing the lateral clearance to obstacles at higher speeds. Clothoid trajectories are used in planning the vehicle's immediate path. The speed-indexed clearance requirement improves the safety margin for the vehicle over a range of speeds while retaining the ability to maneuver in close quarters when necessary.
Proceedings of the 2000 Intelligent Vehicles Conference
, Murphy, K.
, Lacaze, A.
and Legowik, S.
Driving Autonomously Offroad up to 35 km/h, Proceedings of the 2000 Intelligent Vehicles Conference, Dearborn, MI, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820669
(Accessed December 5, 2023)