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Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles
MIT.
MIT.
MIT.
US Army Tank Automotive RDE Center (TARDEC).
2010 (English)In: Proceedings of the 27th Army Science Conference, 2010, p. 1-8Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a method for trajectory planning, threatassessment, and semi-autonomous control of manned andunmanned ground vehicles. A model predictive controlleriteratively replans a stability-optimal trajectory through the saferegion of the environment while a threat assessor and semi-autonomous control law modulate driver and controller inputs tomaintain stability, preserve controllability, and ensure that thevehicle avoids obstacles and hazardous areas. The efficacy of thisapproach in avoiding hazards while accounting for various typesof human error, including errors caused by time delays, isdemonstrated in simulation.

Place, publisher, year, edition, pages
2010. p. 1-8
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20869OAI: oai:DiVA.org:hh-20869DiVA, id: diva2:586890
Conference
the 27th Army Science Conference, Orlando, Florida, USA, November 29 - December 02, 2010
Available from: 2013-01-13 Created: 2013-01-13 Last updated: 2018-03-22Bibliographically approved

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CiteExportLink to record
Permanent link

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Citation style
  • apa
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  • Other style
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Language
  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
  • html
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  • asciidoc
  • rtf