| Autor: |
Jake Carter, Zach D. Jeffries, Jeremy P. Bos, Casey D. Majhor, Sam Kysar |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2021. |
| DOI: |
10.1117/12.2585773 |
| Popis: |
We present an overview of MUONS: the Michigan tech Unstructured and Off-road Navigation Stack. MUONS is a ROS-based point-cloud-based navigation stack designed to enable traversal of complex terrain that may exceed vehicle kinematic limits. We originally developed MUONS for small to mid-size skid-steer autonomous ground vehicles with no suspension. In this work we examine how MUONS performs on a simulated full-scale vehicle with complex suspension elements. By comparing the performance of the full-scale and mid-size vehicle we aim to identify the critical vehicle linkages that must be included in our simulation model. We also aim to understand the necessary changes and modifications required to adapt MUONS to full-scale Ackerman steering autonomous ground vehicles with complex suspensions. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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