Traversability Assessment and Trajectory Planning of Unmanned Ground Vehicles with Suspension Systems on Rough Terrain
نویسندگان
چکیده
منابع مشابه
Terrain traversability analysis methods for unmanned ground vehicles: A survey
Motion planning for unmanned ground vehicles (UGV) constitutes a domain of research where several disciplines meet, ranging from artificial intelligence and machine learning to robot perception and computer vision. In view of the plurality of related applications such as planetary exploration, search and rescue, agriculture, mining and off-road exploration, the aim of the present survey is to r...
متن کاملHazard Avoidance for High-Speed Rough-Terrain Unmanned Ground Vehicles
........................................................................................................................... 3 ACKNOWLEDGMENTS............................................................................................................5 CONTENTS............................................................................................................................ 7 FIGURES.......
متن کاملTurn around Behavior Generation and Execution for Unmanned Ground Vehicles Operating in Rough Terrain
We present an approach for turn around behavior generation and execution for an unmanned ground vehicle (UGV) operating in a rugged terrain. The generated behavior allows the vehicle to rapidly execute N-point turn maneuver in a narrow space by exploiting the vehicle’s dynamics as well as the properties of the terrain. The developed approach incorporates model-predictive planning and optimizati...
متن کاملTraversability Prediction for Unmanned Ground Vehicles Based on Identified Soil Parameters
A novel technique for identifying soil parameters on-line while traversing with a tracked vehicle on unknown terrain is presented. This technique, based on the Newton Raphson method is used to identify unknown soil parameters. Comparing with the Least Square method, it shows that the Newton Raphson method is better in terms of prediction accuracy, computational speed, and robustness to initial ...
متن کاملTrajectory Planning for Unmanned Vehicles using Robust Receding Horizon Control
This thesis presents several trajectory optimization algorithms for a team of cooperating unmanned vehicles operating in an uncertain and dynamic environment. The first, designed for a single vehicle, is the Robust Safe But Knowledgeable (RSBK) algorithm, which combines several previously published approaches to recover the main advantages of each. This includes a sophisticated cost-to-go funct...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2019
ISSN: 1424-8220
DOI: 10.3390/s19204372