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Carnegie Mellon Robotics Institute

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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",
}

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