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An Experimental Platform for Motion Estimation and Maneuver Characterization in High Speed Off-Road Driving

Huang, Haomiao and Chamberlain, Lyle and Murray, Richard M. (2005) An Experimental Platform for Motion Estimation and Maneuver Characterization in High Speed Off-Road Driving. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 3090-3095. ISBN 0-7803-8914-X http://resolver.caltech.edu/CaltechAUTHORS:20110811-104030081

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Abstract

This paper describes a low-cost experimental platform for investigating control and dynamics of a vehicle performing high speed sliding turns in an off-road environment. The hardware design and field performance of the vehicle are discussed. State and control input data were recorded during a series of human-controlled off-road driving maneuvers. Analysis performed on the data demonstrates the ability to detect slippage and measure sideslip angle. Preliminary classification of human control inputs using pattern recognition techniques shows the ability to match steering inputs with vehicle trajectories that can be used to develop motion primitives for vehicle control. These tools and techniques will be used for the development of high speed autonomous off-road driving.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.2005.1570585DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1570585PublisherUNSPECIFIED
Additional Information:© 2005 IEEE. Issue Date: 18-22 April 2005; Date of Current Version: 10 January 2006. We would like to thank Dmitry Kogan, Pierre Moreels, John van Deusen, Tully Foote, and Lihi Domitilla for their assistance with this project.
Subject Keywords:maneuver classification; motion estimation; off-road vehicle control; autonomous vehicles; dynamic control
Record Number:CaltechAUTHORS:20110811-104030081
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20110811-104030081
Official Citation:Haomiao Huang; Chamberlain, L.; Murray, R.M.; , "An Experimental Platform for Motion Estimation and Maneuver Characterization in High Speed Off-Road Driving," Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on , vol., no., pp. 3090- 3095, 18-22 April 2005 doi: 10.1109/ROBOT.2005.1570585
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:24804
Collection:CaltechAUTHORS
Deposited By: Jason Perez
Deposited On:11 Aug 2011 18:44
Last Modified:11 Aug 2011 18:44

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