Behavior-Based Low-Level Control for (Semi-)Autonomous Vehicles in Rough Terrain

Conference: ISR 2018 - 50th International Symposium on Robotics
06/20/2018 - 06/21/2016 at München, Germany

Proceedings: ISR 2018

Pages: 8Language: englishTyp: PDF

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Ropertz, Thorsten; Wolf, Patrick; Berns, Karsten (Robotics Research Lab, TU Kaiserslautern, Kaiserslautern, Germany)

Todays standard cars incorporate more and more assistance systems to make traveling by car safer and more comfortable, step by step bridging the gap to completely autonomous vehicles. Also in the area of commercial vehicles, the automation process makes progress improving for example the transportation efficiency. But most research focuses on on-road scenarios. While these scenes are highly structured and most environmental conditions can be foreseen, the perception, interpretation and forecast in unstructured off-road environments makes the safe and efficient automation of vehicles much more difficult. This paper presents an approach for supportive low-level control of vehicles in rough terrain exploiting the behavior-based control paradigm. Important safety features like collision avoidance are implemented using interacting behaviors with dynamic priorities adapting to the current environmental conditions and system state. The flexibility and effectiveness of the presented approach is shown in simulation and real world scenarios using different kinds of vehicles as a GatorX855D off-road vehicle, Unimog U5023 special truck, and BOMAG tandem rollers.