Terrain Dependent Control

Terrain dependent control systems are imperative for efficient and safe operation of autonomous ground vehicles (AGVs) that will operate in highly unstructured outdoor environments of varying and sometimes difficult terrains. This research approaches the problem of developing these control systems by quantifying and automating terrain-dependent driving rules that have been developed by expert off-road drivers. These rules include limits on the vehicle acceleration and turn radius when on a terrain such as sand and the benefits of following ruts on soft surfaces such as snow, mud or sand.