Change search
ReferencesLink to record
Permanent link

Direct link
Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles
US Army Tank Automotive RDE Center (TARDEC).
2010 (English)In: Proceedings of the 27th Army Science Conference, 2010, 1-8 p.Conference 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. 1-8 p.
National Category
URN: urn:nbn:se:hh:diva-20869OAI: diva2:586890
the 27th Army Science Conference, Orlando, Florida, USA, November 29 - December 02, 2010
Available from: 2013-01-13 Created: 2013-01-13 Last updated: 2013-02-20Bibliographically approved

Open Access in DiVA

fulltext(480 kB)138 downloads
File information
File name FULLTEXT01.pdfFile size 480 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Iagnemma, Karl

Search outside of DiVA

GoogleGoogle Scholar
Total: 138 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 131 hits
ReferencesLink to record
Permanent link

Direct link