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Intelligent Control For Off-Road Driving

Published

Author(s)

Karl Murphy, Marilyn N. Abrams, Stephen B. Balakirsky, Tommy Chang, Tsai Hong Hong, Alberto Lacaze, Steven Legowik

Abstract

The NIST robot vehicle, a HMMWV with sensors and computer controlled actuators, detects how traversable the terrain is near the vehicle and computes its path and velocity accordingly. During tests the vehicle drives through the back fields of NIST at speeds up to 30 km/hr detecting the ground out to 20 m and large obstacles up to 50 m away. The terrain is sensed using a tilting 20 x90 field of view laser range scanner. A planner selects a path and velocity that minimize travel time and path roughness.
Proceedings Title
Program and Proceedings: First International NAISO Congress on Autonomous Intelligent Systems
Conference Dates
February 12-15, 2002
Conference Location
Geelong, AS
Conference Title
First International NAISO Congress on Autonomous Intelligent Systems

Keywords

control, ladar, path planning, RCS, robot, terrain detection, unmanned vehicle, world model

Citation

Murphy, K. , Abrams, M. , Balakirsky, S. , Chang, T. , , T. , Lacaze, A. and Legowik, S. (2002), Intelligent Control For Off-Road Driving, Program and Proceedings: First International NAISO Congress on Autonomous Intelligent Systems, Geelong, AS (Accessed April 19, 2024)
Created February 1, 2002, Updated February 17, 2017