Unmanned Ground Vehicle (UGV) Path Planning in 2.5D and 3D

Abstract

Herein, we explored path planning in 2.5D and 3D for unmanned ground vehicle (UGV) applications. For real-time 2.5D navigation, we investigated generating 2.5D occupancy grids using either elevation or traversability to determine path costs. Compared to elevation, traversability, which used a layered approach generated from surface normals, was more robust for the tested environments. A layered approached was also used for 3D path planning. While it was possible to use the 3D approach in real time, the time required to generate 3D meshes meant that the only way to effectively path plan was to use a preexisting point cloud environment. As a result, we explored generating 3D meshes from a variety of sources, including handheld sensors, UGVs, UAVs, and aerial lidar.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 2023
Accession Number
AD1208423

Entities

People

  • Ahmet Soylemezoglu
  • Anton D. Netchaev
  • Charles C. Ellison
  • Garry P. Glaspell
  • Osama Ennasr

Organizations

  • Engineer Research and Development Center

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Navigation
  • Autonomous Systems
  • Change Detection
  • Collision Avoidance
  • Computer Programs
  • Engineering
  • Engineers
  • Geometry
  • Ground Vehicles
  • Guidance
  • Information Systems
  • Motion Planning
  • Navigation
  • Operating Systems
  • Point Clouds
  • Robotics
  • Robots
  • Three Dimensional
  • Unmanned Ground Vehicles

Readers

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  • Sensor Fusion and Tracking Systems.

Technology Areas

  • Autonomy