MUONS path planning performance for a vehicle with complex suspension in Unreal
Document Type
Conference Proceeding
Publication Date
4-12-2021
Department
Department of Electrical and Computer Engineering; Department of Mechanical Engineering-Engineering Mechanics
Abstract
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.
Publication Title
Proceedings of SPIE - The International Society for Optical Engineering
ISBN
9781510643338
Recommended Citation
Jeffries, Z.,
Majhor, C.,
Carter, J.,
Kysar, S.,
&
Bos, J.
(2021).
MUONS path planning performance for a vehicle with complex suspension in Unreal.
Proceedings of SPIE - The International Society for Optical Engineering,
11748.
http://doi.org/10.1117/12.2585773
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/15137