An Intelligent Predictive Controller for Autonomous Vehicles

Alonzo Kelly
tech. report CMU-RI-TR-94-20, Robotics Institute, Carnegie Mellon University, May, 1994


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Abstract
Performance of high speed rough terrain autonomous vehicles is compromised by inadequate real time response characteristics, poor models of vehicle dynamics and terrain following, and suboptimal allocation of limited computational resources.

A new approach to high speed rough terrain autonomy is presented which solves these problems through a real-time managed response time strategy, a 3D state space dynamics and terrain following model, and minimum throughput adaptive perception and planning strategies. The system which has been implemented is called RANGER. This report overviews the implementation of the RANGER code.


Notes
Sponsor: ARPA
Grant ID: DACA76-89-C-0014
Number of pages: 47

Text Reference
Alonzo Kelly, "An Intelligent Predictive Controller for Autonomous Vehicles," tech. report CMU-RI-TR-94-20, Robotics Institute, Carnegie Mellon University, May, 1994

BibTeX Reference
@techreport{Kelly_1994_339,
   author = "Alonzo Kelly",
   title = "An Intelligent Predictive Controller for Autonomous Vehicles",
   booktitle = "",
   institution = "Robotics Institute",
   month = "May",
   year = "1994",
   number= "CMU-RI-TR-94-20",
   address= "Pittsburgh, PA",
}