Fast, Safe, and Proactive Runtime Planning and Control of Autonomous Ground Vehicles in Changing Environments

Grace Glaubit,Katie Kleeman, Noelle Law, Jeremiah Thomas,Shijie Gao,Rahul Peddi,Esen Yel,Nicola Bezzo

2021 Systems and Information Engineering Design Symposium (SIEDS)（2021）

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摘要

Autonomous ground vehicles (UGVs) traversing paths in complex environments may have to adapt to changing terrain characteristics, including different friction, inclines, and obstacle configurations. In order to maintain safety, vehicles must make adjustments guided by runtime predictions of future velocities. To this end, we present a neural network-based framework for the proactive planning and c...

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关键词

motion planning,terrain traversability,neural network,unmanned ground vehicles

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