27 May 1996 GPS-aided retrotraverse for unmanned ground vehicles
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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.
© (1996) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Karl N. Murphy, Karl N. Murphy, Steven Legowik, Steven Legowik, } "GPS-aided retrotraverse for unmanned ground vehicles", Proc. SPIE 2738, Navigation and Control Technologies for Unmanned Systems, (27 May 1996); doi: 10.1117/12.241076; https://doi.org/10.1117/12.241076
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