Development and Demonstration of Autonomous Behaviors for Urban Environment Exploration
Abstract
Under the Urban Environment Exploration project, the Space and Naval Warfare Systems Center Pacific (SSC-PAC) is maturing technologies and sensor payloads that enable man-portable robots to operate autonomously within the challenging conditions of urban environments. Previously, SSC-PAC has demonstrated robotic capabilities to navigate and localize without GPS and map the ground floors of various building sizes. SSC-PAC has since extended those capabilities to localize and map multiple multi-story buildings within a specified area. To facilitate these capabilities, SSC-PAC developed technologies that enable the robot to detect stairs/stairwells, maintain localization across multiple environments (e.g. in a 3D world, on stairs, with/without GPS), visualize data in 3D, plan paths between any two points within the specified area, and avoid 3D obstacles. These technologies have been developed as independent behaviors under the Autonomous Capabilities Suite, a behavior architecture, and demonstrated at a MOUT site at Camp Pendleton. This paper describes the perceptions and behaviors used to produce these capabilities, as well as an example demonstration scenario.
Document Details
- Document Type
- Technical Report
- Publication Date
- Apr 01, 2012
- Accession Number
- ADA563752
Entities
People
- Alexander Xydes
- Donald Fellars
- Estrellina P. Rius
- Gaurav Ahuja
- Gregory Kogut
- Misha Schoolov
Organizations
- Naval Information Warfare Systems Command