GPS Aided Retrotraverse For Unmanned Ground Vehicles

A computer controlled HMMWV automatically retraces a previously recorded path using navigation data, a process we have termed retrotraverse. A Kalman filter combines the output of two navigation systems, an inertial dead reckoning system and a differential GPS, both with and without carrier phase detection. During retrotraverse, the mobility controller uses a velocity controller and pure pursuit steering. Obstacles, such as another vehicle, can be detected with a laser range imaging device.