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

Author Affiliations +

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

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE