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Proceedings Paper

Application of an off-road mobility model to autonomous cross-country routing of unmanned ground vehicles
Author(s): Christopher L. Cummins; Randolph A Jones; Burhman Q. Gates
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Paper 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.

Paper Details

Date Published: 9 May 2006
PDF: 11 pages
Proc. SPIE 6230, Unmanned Systems Technology VIII, 623029 (9 May 2006); doi: 10.1117/12.666176
Show Author Affiliations
Christopher L. Cummins, U.S. Army Engineer Research and Development Ctr. (United States)
Randolph A Jones, U.S. Army Engineer Research and Development Ctr. (United States)
Burhman Q. Gates, U.S. Army Engineer Research and Development Ctr. (United States)


Published in SPIE Proceedings Vol. 6230:
Unmanned Systems Technology VIII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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