The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Terrain Optimized Nonholonomic Following of Vehicle Tracks

Thomas Kopfstedt
Diehl BGT Defence GmbH & Co. KG
Germany

Marc-Oliver Restle
University of Stuttgart, Institute of Flight Mechanics and Control
Germany

Werner Grimm
University of Stuttgart, Institute of Flight Mechanics and Control
Germany

Abstract:
Unmanned Ground Vehicles (UGV's) have a large field of application. For convoy following or platooning tasks the UGV must be able to follow a path specified by a leading vehicle. This path must be adjusted if it is blocked by an obstacle or not feasible for the following robot due to its nonholonomic constraints. This paper presents a new algorithm for the nonholonomic path planning in rough terrain for leader-follower tasks, whose major advantage is the fast and efficient computation and the consideration for the terrain traversability during the planning phase.
It can easily be adjusted to additional conditions like platooning tasks, scenario dependent restrictions or vehicles sizes and is therefore universally applicable to all kinds of UGV's.

 

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