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Real time traversability analysis to enhance rough terrain navigation for an 6 × 6 autonomous vehicle

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Abstract

An autonomous vehicle should be driven at a velocity that allows it to feasibly track a predetermined path. For autonomous vehicles that require high velocity navigation over rough terrain, the driving velocity should be calculated in real time and maximized without exceeding any safety limits. In order to compute the driving velocity in real time, several factors including path curvature, terrain characteristics, vehicle dynamics, and interaction between vehicle and terrain need to be taken into account, along with real time constraints. In this study, a method based on real time traversability analysis is proposed to determine the maximum permissible velocity at which an autonomous vehicle can traverse rough terrain with guaranteed stability. Simulations validated the proposed method for a 6 × 6 autonomous vehicle with articulated suspension traveling over rough terrain.

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Author information

Authors and Affiliations

  1. Autonomous Technology Directorate, Agency for Defense Development, Daejeon, 305-601, Korea

    Sang Hyun Joo & Yong Woon Park

  2. Solution Group, Function Bay Inc., Sungnam, 463-400, Korea

    Jeong Han Lee

  3. Department of mechanical engineering, Pusan National University, Busan, 609-735, Korea

    Wan Suk Yoo

  4. Department of mechatronics engineering, Chungnam National University, Daejeon, 305-764, Korea

    Jihong Lee

Authors
  1. Sang Hyun Joo
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  2. Jeong Han Lee
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  3. Yong Woon Park
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  4. Wan Suk Yoo
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  5. Jihong Lee
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Corresponding author

Correspondence to Jihong Lee.

Additional information

Recommended by Associate Editor Kyongsu Yi

Sang Hyun Joo received his Ph.D. degree in 2012 from Chungnam National University in Daejeon, South Korea. He is currently a full time researcher of Agency for Defense Development. His research fields are path planning and velocity planning for autonomous ground vehicle.

Jihong Lee received his Ph.D. degree in 1991 from the KAIST in Daejeon, South Korea. In 1994, he became a full professor at the Chungnam National University. His research fields are robotics, localization and path planning.

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Joo, S.H., Lee, J.H., Park, Y.W. et al. Real time traversability analysis to enhance rough terrain navigation for an 6 × 6 autonomous vehicle. J Mech Sci Technol 27, 1125–1134 (2013). https://doi.org/10.1007/s12206-013-0219-3

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  • DOI: https://doi.org/10.1007/s12206-013-0219-3

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