3D Mapping and Nagivation Using MOVEit

Abstract

Until recently, our focus has been primarily on the development of a low SWAP-C payload for deployment on a UGV that leverages 2D mapping and navigation. Due to these efforts, we are able to autonomously map and navigate very well within flat indoor environments. This report will explore the implementation of 3D mapping and navigation to allow unmanned vehicles to operate on a variety of terrains, both indoor and outdoor. The method we followed uses MOVEit, a motion planning framework. The MOVEit application is typically used in the control of robotic arms or manipulators, but its handling of 3D perception using OctoMaps makes it a promising software for robots in general. The challenges of using MOVEit outside of its intended use case of manipulators are discussed in this report.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2023
Accession Number
AD1203873

Entities

People

  • Benjamin A. Christie
  • Bisrat Mekonnen
  • Garry P. Glaspell
  • Michael A. Paquette

Organizations

  • Engineer Research and Development Center

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Army
  • Army Corps Of Engineers
  • Artificial Intelligence
  • Autonomous Navigation
  • Autonomous Systems
  • Computer Programs
  • Computers
  • Control
  • Control Systems
  • Engineers
  • Environment
  • Manipulators
  • Motion Planning
  • Navigation
  • Perception
  • Robotics
  • Robots
  • Trees (Data Structures)
  • Unmanned Vehicles

Fields of Study

  • Computer science

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy