High Speed Hazard Avoidance for Unmanned Ground Vehicles in Emergency Situations
نویسنده
چکیده
Rapid emergency hazard avoidance maneuvers will be required for unmanned ground vehicles operating at high speeds in rough terrain. Without rapidly decreasing speed in every situation, there is limited time to perform navigation calculations based on detailed vehicle and terrain models. This paper presents a novel method for high speed navigation and hazard avoidance. It is based on the two dimensional “trajectory space,” which is a compact model-based representation of a robot’s dynamic performance limits on natural terrain. Experimental results on a small high-speed UGV demonstrate the method’s effectiveness
منابع مشابه
Experimental Validation of High Speed Hazard Avoidance Control for Unmanned Ground Vehicles
At high speeds in natural terrain, unmanned ground vehicles can experience unexpected situations that require rapid hazard avoidance maneuvers. In these scenarios there is often limited time to replan a path based on high-order dynamic models. This paper presents a novel method for high speed navigation and hazard avoidance based on the two dimensional “trajectory space,” a compact and computat...
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