A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles

Alonzo Kelly
tech. report CMU-RI-TR-94-17, Robotics Institute, Carnegie Mellon University, May, 1994


Download
  • Adobe portable document format (pdf) (142KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This report describes the state space model which forms the core technology of an integrated autonomous navigation system incorporating perception, control, and position estimation called RANGER. The high speed local navigation problem is formulated as an optimal control problem in state space. This report concentrates on the trajectory tracking, obstacle avoidance and sensor stabilization, aspects of the system. These algorithms form the basis of RANGER's Controller object.

Notes
Sponsor: ARPA
Grant ID: DACA76-89-C-0014
Number of pages: 38

Text Reference
Alonzo Kelly, "A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles," tech. report CMU-RI-TR-94-17, Robotics Institute, Carnegie Mellon University, May, 1994

BibTeX Reference
@techreport{Kelly_1994_336,
   author = "Alonzo Kelly",
   title = "A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles",
   booktitle = "",
   institution = "Robotics Institute",
   month = "May",
   year = "1994",
   number= "CMU-RI-TR-94-17",
   address= "Pittsburgh, PA",
}