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Performance Analysis Of Constant Speed Local Abstacle Avoidance Controller Using A Mpc Algorithym On Granular Terrain, Nicholas Haraus
Performance Analysis Of Constant Speed Local Abstacle Avoidance Controller Using A Mpc Algorithym On Granular Terrain, Nicholas Haraus
Master's Theses (2009 -)
A Model Predictive Control (MPC) LIDAR-based constant speed local obstacle avoidance algorithm has been implemented on rigid terrain and granular terrain in Chrono to examine the robustness of this control method. Provided LIDAR data as well as a target location, a vehicle can route itself around obstacles as it encounters them and arrive at an end goal via an optimal route. This research is one important step towards eventual implementation of autonomous vehicles capable of navigating on all terrains. Using Chrono, a multibody physics API, this controller has been tested on a complex multibody physics HMMWV model representing the plant …