An Intelligent Predictive Controller for Autonomous Vehicles
Alonzo Kelly · 1994
Performance of high speed rough terrain autonomous vehicles is compromized by inadequate real time response characteristics, poor models of vehicle dynamics and terrain following, and suboptimal allocation of limited computational resources. A new approach to high speed rough terrain autonomy is presented which solves these problems through a real-time managed response time strategy, a 3D state space dynamics and terrain following model, and minimum throughput adaptive perception and planning strategies. The system which has been implemented is called RANGER. This report overviews the implementation of the RANGER code. iv Table of Contents i. Table of Contents 1 Introduction ...................................................................................................... 1 1.1 Components ...........................................................................................................................1 1.2 Commentary ....................................................