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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 Title
Proceedings of the SPIE 10th Annual AeroSense Symposium
Conference Dates
April 1, 1996
Conference Location
Orlando, FL
Conference Title
Conference 2738 (Navigation and Control Technologies for Unmanned Systems)


Mobility, Unmanned Systems, Robotics & Intelligent Systems, dead reckoning, GPS, inertial navigation, Kalman filter, LADAR, obstacle avoidance


Murphy, K. and Legowik, S. (1996), GPS Aided Retrotraverse For Unmanned Ground Vehicles, Proceedings of the SPIE 10th Annual AeroSense Symposium, Orlando, FL, [online], (Accessed June 19, 2024)


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Created April 1, 1996, Updated February 17, 2017