Comparing real and simulated performance for an off‐road autonomous ground vehicle in obstacle avoidance

This field report presents the results of a study of obstacle detection and avoidance (ODOA) by an autonomous ground vehicle (AGV) in off‐road driving conditions. This study included both real and simulated testing of the AGV and served as the third and final phase of a 3‐year research project study...

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Bibliographic Details
Published in:Journal of field robotics 2024-05, Vol.41 (3), p.798-810
Main Authors: Carruth, Daniel W., Goodin, Christopher, Dabbiru, Lalitha, Scherrer, Nicklaus, Moore, Marc N., Hudson, Christopher H., Cagle, Lucas D., Jayakumar, Paramsothy
Format: Article
Language:English
Subjects:
autonomous navigation
Driving conditions
dynamic obstacle avoidance
mobility
Obstacle avoidance
Research projects
Roads
Soils
Steering
Unmanned ground vehicles
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Summary:This field report presents the results of a study of obstacle detection and avoidance (ODOA) by an autonomous ground vehicle (AGV) in off‐road driving conditions. This study included both real and simulated testing of the AGV and served as the third and final phase of a 3‐year research project studying the influence of environmental conditions over autonomous driving. We compare and contrast the results of the real and experimental field testing and report our findings on the influence of soft soil in ODOA performance by an AGV. We find that rutting in soft soil results in higher throttle effort but lower steering effort and speed. The results of these experiments will inform future studies of autonomous driving on off‐road environments.
ISSN:1556-4959
1556-4967
DOI:10.1002/rob.22289