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9 May 2006 Application of an off-road mobility model to autonomous cross-country routing of unmanned ground vehicles
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Abstract
This paper describes the application of an Army-standard legacy off-road mobility model to cross-country route planning and negotiation by unmanned ground vehicles. A planned route is created from a movement map generated from existing terrain data. An unmanned ground vehicle negotiates the planned route and makes local routing adjustments based on a trafficability assessment of terrain features which are observed from the platform. This research leverages results from other work investigating the scalability of the existing legacy off-road mobility model to small vehicles (<500 kg). The legacy mobility model is the NATO Reference Mobility Model II (NRMM II), a standard for combat mobility modeling and procurement since the mid-90's.
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Christopher L. Cummins, Randolph A Jones, and Burhman Q. Gates "Application of an off-road mobility model to autonomous cross-country routing of unmanned ground vehicles", Proc. SPIE 6230, Unmanned Systems Technology VIII, 623029 (9 May 2006); https://doi.org/10.1117/12.666176
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