Local Free Space Mapping and Path Guidance,

Abstract

This paper describes a method of mapping the local environment in front of a ground vehicle using acoustical sensors. The map outlines the extent of known freespace. This information is used to generate navigation points in the form of a subgoal and avoidance points which may be used by another process to dynamically generate a path. The map information is also used to intelligently steer the sensors to areas of the environment requiring further investigation. Inconsistencies in sensor returns are resolved with multiple sensor scans. While any inconsistencies are being resolved, the map, if in error, errs on the side of safety. These algorithms are being developed by the Naval Ocean Systems Center (NOSC) on the Ground Surveillance Robot project. reprints

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1987
Accession Number
ADA191911

Entities

People

  • Nancy L. Campbell
  • William T. Gex

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Autonomous Machine Behavior
  • Autonomous Navigation
  • Autonomous Systems
  • Autonomous Vehicles
  • Detectors
  • Guidance
  • Laser Rangefinding
  • Motion Planning
  • Navigation
  • Range Finders
  • Robot Navigation
  • Robotics
  • Robots
  • Surveillance
  • Vehicles

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Atmospheric Science/Meteorology
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Space
  • Space - Space Objects
  • Space - Spacecraft Maneuvers