The Robotics Institute

Carnegie Mellon Robotics Institute

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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",
}

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