Accession Number:

ADA282852

Title:

An Intelligent Predictive Controller for Autonomous Vehicles

Descriptive Note:

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s):

• Kelly, Alonzo

Report Date:

1994-05-02

Pagination or Media Count:

58.0

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

Descriptors:

• *HIGH VELOCITY
• *AUTONOMOUS NAVIGATION
• *OFFROAD TRAFFIC
• STRATEGY
• REAL TIME
• DYNAMICS
• MILITARY VEHICLES
• SURFACE ROUGHNESS
• TERRAIN
• TIME
• RESPONSE
• PLANNING
• THROUGHPUT
• ALLOCATIONS
• RESOURCES
• VEHICLES
• PERCEPTION
• TERRAIN MODELS
• APPROACH
• TERRAIN FOLLOWING

Subject Categories:

• Computer Programming and Software
• Land and Riverine Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE