Intelligent Control for Unmanned Vehicles

摘要

The NIST robot vehicle, a HMMWV with sensors and computer controlled actuators, detects and avoids obstacles while it drives off road at speeds up to 35 km/h. During tests the vehicle drives through the back fields of NIST detecting large obstacles up to 50 m away. Obstacles are sensed using a 30¡x60 ¡ field of view laser range scanner. The planner computes smooth, obstacle free paths that follow an operator s commanded path.