A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles
Tech. Report, CMU-RI-TR-94-17, Robotics Institute, Carnegie Mellon University, May, 1994
Abstract
This report describes the state space model which forms the core technology of an integrated autonomous navigation system incorporating perception, control, and position estimation called RANGER. The high speed local navigation problem is formulated as an optimal control problem in state space. This report concentrates on the trajectory tracking, obstacle avoidance and sensor stabilization, aspects of the system. These algorithms form the basis of RANGER's Controller object.
BibTeX
@techreport{Kelly-1994-13704,author = {Alonzo Kelly},
title = {A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles},
year = {1994},
month = {May},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-94-17},
}
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