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.

中文翻译：

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比较越野自主地面车辆避障的真实和模拟性能

本现场报告介绍了自动地面车辆 (AGV) 在越野驾驶条件下进行障碍物检测和规避 (ODOA) 的研究结果。这项研究包括 AGV 的真实和模拟测试，是为期 3 年的研究项目的第三阶段和最后阶段，该项目研究环境条件对自动驾驶的影响。我们比较和对比了实际和实验现场测试的结果，并报告了我们关于软土对 AGV ODOA 性能影响的研究结果。我们发现，软土中的车辙会导致油门作用力增大，但转向作用力和速度降低。这些实验的结果将为未来越野环境下自动驾驶的研究提供信息。