Local Free-Space Mapping and Path Guidance for Mobile Robots.

Abstract

A method was developed of mapping the local environment in front of a ground vehicle that employs acoustic sensors. The extent of known free space is used to generate navigation points, in the form of a subgoal and avoidance points, which may be used by another process to generate a path. The map information is also used to steer the sensors to areas of the environment that require further investigation. In consistencies in sensor returns are resolved with multiple sensor scans.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1988
Accession Number
ADA192970

Entities

People

  • Nancy L. Campbell
  • William T. Gex

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Acoustic Detectors
  • Algorithms
  • Autonomous Navigation
  • Autonomous Systems
  • Autonomous Vehicles
  • Classification
  • Construction
  • Guidance
  • Motion Planning
  • Navigation
  • Range Finders
  • Range Finding
  • Robotics
  • Robots
  • Security
  • Surveillance
  • Vehicles

Fields of Study

  • Physics

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Electromagnetic Wave Scattering and Antenna Radiation Engineering
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers