High Speed Navigation of UGVs in Rough Unknown Terrains
Date
2013-09-12
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Abstract
The traversal of rough a priori unknown terrain by an Unmanned Ground Vehicle (UGV) at high-speed requires the assessment of terrain in front of the vehicle as well as algorithms to select a speed based on the identified terrain. Current techniques are either susceptible to miss-classification, do not address the challenge of speed selection, or have not been experimentally tested.
This thesis proposes a geometric terrain identification technique where a range sensor captures a 3D terrain point cloud and uses the standard deviation of the terrain point elevations to determine a roughness score. Using this roughness score three methods were proposed in this thesis to select a fast but safe allowable speed for a UGV based on predicting the force the terrain will exert on the UGV while driving. These methods were experimentally tested on rough outdoor terrain to demonstrate and compare their performance.
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Keywords
Electronics and Electrical, Mechanical, Robotics
Citation
Wilson, G. N. (2013). High Speed Navigation of UGVs in Rough Unknown Terrains (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/26369