INTELLIGENT CONTROL FOR UNMANNED VEHICLES

KARL MURPHY,MARILYN ABRAMS,STEPHEN BALAKIRSKY,DAVID COOMBS,TSAI HONG,STEVEN LEGOWIK,TOMMY CHANG,ALBERTO LACAZE

world automation congress（2000）

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摘要

The NIST robot vehicle, a HMMWV with sensors and computer controlled actuators, detects and avoids obstacles while it drives off road at speeds up to 35 km/h. During tests the vehicle drives through the back fields of NIST detecting large obstacles up to 50 m away. Obstacles are sensed using a 30¡x60¡ field of view laser range scanner. The planner computes smooth, obstacle free paths that follow an operator s commanded path.

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关键词

sensor processing,path planning,obstacle detection,gps.,robot vehicle,world modeling,rcs,ladar,intelligent control,field of view

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