Navigation and Hazard Avoidance for High-Speed Unmanned Ground Vehicles in Rough Terrain

摘要

Many applications require unmanned ground vehicles (UGVs) to travel at high speeds on sloped, natural terrain. Control of UGVs in these scenarios is difficult due to the inherent complexity in modeling terrain effect on vehicle motion. This research has studied methods for control of high speed UGVs through the use of simplified models of UGV dynamics and terrain interaction Simulation and experimental results gathered during this work has demonstrated the effectiveness of two distinct control approaches. Other work conducted under this grant has focused on modeling of omnidirectional vehicles. Future work will pursue control methods for high speed, omnidirectional UGVs in rough, uneven terrain.