Driving autonomously off-road up to 35 km/h
- Resource Type
- Conference
- Authors
- Coombs, D.; Murphy, K.; Lacaze, A.; Legowik, S.
- Source
- Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Intelligent vehicles Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE. :186-191 2000
- Subject
- Transportation
Computing and Processing
Vehicle driving
Remotely operated vehicles
NIST
Hidden Markov models
Mobile robots
Roads
Intelligent robots
USA Councils
Vehicle detection
Intelligent sensors
- Language
A robotic highly mobile multipurpose wheeled vehicle drives autonomously off-road at speeds up to 35 km/h (10 m/s, 20 mph). The key features of the implementation that enable the vehicle driving at these speeds are: 1) planning the next 20 m with dynamically feasible trajectories; and 2) increasing the lateral clearance to obstacles at higher speeds. Clothoid trajectories are used in planning the vehicle's immediate path. The speed-indexed clearance requirement improves the safety margin for the vehicle over a range of speeds while retaining the ability to maneuver in close quarters when necessary.