An Intelligent Predictive Controller for Autonomous Vehicles
Tech. Report, CMU-RI-TR-94-20, Robotics Institute, Carnegie Mellon University, May, 1994
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.
BibTeX
@techreport{Kelly-1994-13707,author = {Alonzo Kelly},
title = {An Intelligent Predictive Controller for Autonomous Vehicles},
year = {1994},
month = {May},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-94-20},
}
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