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Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles
| 题名： | Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles |
| 作者： | Anderson, S. J., Peters, S. C., Iagnemma, K., Overholt, J. |
| 关键词： | *THREAT EVALUATION, *GROUND VEHICLES, *HAZARDS, AVOIDANCE, PERFORMANCE(HUMAN), PLANNING, MANNED, UNMANNED, SIMULATION, TRAJECTORIES, CONTROL THEORY, SYMPOSIA, TIME INTERVALS, SAFETY |
| 摘要： | This paper presents a method for trajectory planning, threat assessment, and semi-autonomous control of manned and unmanned ground vehicles. A model predictive controller iteratively replans a stability-optimal trajectory through the safe region of the environment while a threat assessor and semiautonomous control law modulate driver and controller inputs to maintain stability, preserve controllability, and ensure that the vehicle avoids obstacles and hazardous areas. The efficacy of this approach in avoiding hazards while accounting for various types of human error, including errors caused by time delays, is demonstrated in simulation. |
| 总页数： | 9 |
| 报告类型： | 科技报告 |
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