SCS Undergraduate Thesis Topics

2004-2005
Student Advisor(s) Thesis Topic
Matthew Johnson-Roberson Willaim Whittaker Non-holonomic Trajectory Planning for High Speed Navigation

In this thesis a new approach to high-speed navigation is presented. The limitations of traditional path tracking techniques have negative implications for the high-speed traversal of rugged terrain. Through the investigation of trajectory generation that is reactive and stable, the requirements for path tracking and obstacle avoidance at high speed can be determined. A reactive swerving approach, as implemented, allows autonomous vehicles to achieve higher speeds on rougher terrain. An analysis of the implementation of such an approach demonstrates the importance of dynamics and terrain-vehicle interactions at high speed. This approach to high speed navigation offers the possibility of broadening the application and use of autonomous vehicles in the world.


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