GPS Aided Retrotraverse For Unmanned Ground Vehicles
Karl Murphy, Steven Legowik
A computer controlled HMMWV automatically retraces a previously recorded path using navigation data, a process we have termed retrotraverse. A Kalman filter combines the output of two navigation systems, an inertial dead reckoning system and a differential GPS, both with and without carrier phase detection. During retrotraverse, the mobility controller uses a velocity controller and pure pursuit steering. Obstacles, such as another vehicle, can be detected with a laser range imaging device.
Proceedings of the SPIE 10th Annual AeroSense Symposium
April 1, 1996
Conference 2738 (Navigation and Control Technologies for Unmanned Systems)
and Legowik, S.
GPS Aided Retrotraverse For Unmanned Ground Vehicles, Proceedings of the SPIE 10th Annual AeroSense Symposium, Orlando, FL, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820554
(Accessed November 28, 2023)