{"id":{"repo_id":"calgary","oai_identifier":"oai:ucalgary.scholaris.ca:11023/944"},"canonical_url":"https://search.dev.ndltd.org/etd/calgary/oai:ucalgary.scholaris.ca:11023/944","repository":{"repo_id":"calgary","name":"University of Calgary","base_url":"https://ucalgary.scholaris.ca/server/oai/request"},"display":{"title":"High Speed Navigation of UGVs in Rough Unknown Terrains","abstract":"The traversal of rough a priori unknown terrain by an Unmanned Ground Vehicle (UGV) at high-speed requires the assessment of terrain in front of the vehicle as well as algorithms to select a speed based on the identified terrain. Current techniques are either susceptible to miss-classification, do not address the challenge of speed selection, or have not been experimentally tested. This thesis proposes a geometric terrain identification technique where a range sensor captures a 3D terrain point cloud and uses the standard deviation of the terrain point elevations to determine a roughness score. 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Using this roughness score three methods were proposed in this thesis to select a fast but safe allowable speed for a UGV based on predicting the force the terrain will exert on the UGV while driving. These methods were experimentally tested on rough outdoor terrain to demonstrate and compare their performance.","abstract_has_math":false,"creators":["Wilson, Graeme Neff"],"institution":"Graduate Studies","degree_name":"Master of Science (MSc)","degree_level":null,"degree_discipline":"Mechanical and Manufacturing Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["Ramirez-Serrano, Alejandro"],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-09-12","date_published":"2013-09-12","updated_at":"2026-07-24T01:30:40Z","subjects":["Electronics and Electrical","Mechanical","Robotics"],"languages":["eng"],"rights":["University of Calgary graduate students retain copyright ownership and moral rights for their thesis. 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Current techniques are either susceptible to miss-classification, do not address the challenge of speed selection, or have not been experimentally tested. This thesis proposes a geometric terrain identification technique where a range sensor captures a 3D terrain point cloud and uses the standard deviation of the terrain point elevations to determine a roughness score. Using this roughness score three methods were proposed in this thesis to select a fast but safe allowable speed for a UGV based on predicting the force the terrain will exert on the UGV while driving. 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