Accession Number : ADA541213

Title :   Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles

Descriptive Note : Conference paper

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF MECHANICAL ENGINEERING

Personal Author(s) : Anderson, S. J. ; Peters, S. C. ; Iagnemma, K. ; Overholt, J.

PDF Url : ADA541213

Report Date : NOV 2010

Pagination or Media Count : 9

Abstract : 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.

Descriptors :   *THREAT EVALUATION, *GROUND VEHICLES, *HAZARDS, AVOIDANCE, PERFORMANCE(HUMAN), PLANNING, MANNED, UNMANNED, SIMULATION, TRAJECTORIES, CONTROL THEORY, SYMPOSIA, TIME INTERVALS, SAFETY

Subject Categories : Surface Transportation and Equipment

Distribution Statement : APPROVED FOR PUBLIC RELEASE