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5 May 2017 Wheel placement reasoning in complex terrain
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By employing selective reasoning for wheel placement on uneven terrain, planning systems generate safer trajectories that reduce overall mission risk by preventing high-centering and excessive wheel jolt, and therefore expand an autonomous vehicle’s mission portfolio by enabling them to navigate previously untraversable terrain. We show successful wheel placement reasoning in a diverse set of environments, including unimproved roads and expeditionary scenarios. We quantify the performance improvement by measuring ride safety measures (vertical acceleration and underbody clearance) and the number of vehicle collisions in a boulder corridor test environment.
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Andrew Capodieci, Jimmy S. Gill, and Mark D. Ollis "Wheel placement reasoning in complex terrain", Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950H (5 May 2017);


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