GPS-aided retrotraverse for unmanned ground vehicles

Karl N. Murphy; Steven Legowik

doi:10.1117/12.241076

27 May 1996 GPS-aided retrotraverse for unmanned ground vehicles

Karl N. Murphy, Steven Legowik

Proceedings Volume 2738, Navigation and Control Technologies for Unmanned Systems; (1996) https://doi.org/10.1117/12.241076
Event: Aerospace/Defense Sensing and Controls, 1996, Orlando, FL, United States

Abstract

A computer controlled HMMWV automatically retraces a previously recorded path using navigation data, a process we have termed retrotraverse. A Kalman filter combines the output of two navigation systems, an inertial dead reckoning systems and a differential GPS both with and without carrier phase detection. During retrotraverse, the mobility controller uses a velocity controller and pure pursuit steering. Obstacles such as another vehicle can be detected with a laser range imaging device.

Citation Download Citation

Karl N. Murphy and Steven Legowik "GPS-aided retrotraverse for unmanned ground vehicles", Proc. SPIE 2738, Navigation and Control Technologies for Unmanned Systems, (27 May 1996); https://doi.org/10.1117/12.241076

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