Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles
2010 (English)In: Proceedings of the 27th Army Science Conference, 2010, 1-8 p.Conference paper (Refereed)
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.
IdentifiersURN: urn:nbn:se:hh:diva-20869OAI: oai:DiVA.org:hh-20869DiVA: diva2:586890
the 27th Army Science Conference, Orlando, Florida, USA, November 29 - December 02, 2010