Share Email Print
cover

Proceedings Paper

GPS-aided retrotraverse for unmanned ground vehicles
Author(s): Karl N. Murphy; Steven Legowik
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper 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.

Paper Details

Date Published: 27 May 1996
PDF: 10 pages
Proc. SPIE 2738, Navigation and Control Technologies for Unmanned Systems, (27 May 1996); doi: 10.1117/12.241076
Show Author Affiliations
Karl N. Murphy, National Institute of Standards and Technology (United States)
Steven Legowik, National Institute of Standards and Technology (United States)


Published in SPIE Proceedings Vol. 2738:
Navigation and Control Technologies for Unmanned Systems
Scott A. Speigle, Editor(s)

© SPIE. Terms of Use
Back to Top