Automotive Research Center
Automotive Research Center
A U.S. Army Center of Excellence for Modeling & Simulation of Ground Vehicles
Led by the University of Michigan

Vehicle-Dynamics-Conscious Real-Time Hazard Avoidance in Autonomous Ground Vehicles

This project began in 2012 and was completed in 2016.

Vehicle path planningUnmanned ground vehicles (UGVs) are gaining importance and finding increased utility in both military and commercial applications. They hold a great potential for increasing mission performance, combat effectiveness, and personnel safety. UGVs span a large spectrum in terms of both platform size and mode of operation. In terms of platform size, a UGV can be a vehicle from a small ground robot to a heavy, high speed vehicle; whereas the mode of operation can range from teleoperation to full autonomy.

This scope of this work is large, fully autonomous UGVs. Within this scope, the specific problem that the work aims to address is ensuring dynamic safety during hazard avoidance maneuvers. With dynamic safety we refer to not only preventing the vehicle from running into obstacles, but also ensuring that the maneuver does not induce any stability or handling issues such as excessive side slip, tire lift off, or rollover.

Existing hazard avoidance algorithms developed for small robots do not deliver the desired performance in larger UGVs. The overarching objective of this project is to incorporate high-fidelity vehicle models into real-time hazard avoidance for large autonomous vehicle to generate dynamically safe obstacle avoidance maneuvers while minimizing the impact on travel time.

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Sponsored by U.S. Army CCDC Ground Vehicle Systems Center
Cooperative Agreement W56HZV-19-2-0001

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