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Driving Autonomously Offroad up to 35 km/h



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 Title
Proceedings of the 2000 Intelligent Vehicles Conference
Conference Dates
October 4-5, 2000
Conference Location
Dearborn, MI
Conference Title
2000 Intelligent Vehicles Conference


Mobility, Robotics & Intelligent Systems, Control, Unmanned Systems, Obstacle Avoidance, Offroad driving, Path planning, Vehicle Control


Coombs, D. , Murphy, K. , Lacaze, A. and Legowik, S. (2000), Driving Autonomously Offroad up to 35 km/h, Proceedings of the 2000 Intelligent Vehicles Conference, Dearborn, MI, [online], (Accessed May 29, 2024)


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Created October 1, 2000, Updated February 19, 2017