Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Navigation of military and space unmanned ground vehicles in unstructured terrains


    Contributors:


    Publication date :

    1991-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Navigation of Military and Space Unmanned Ground Vehicles in Unstructured Terrains

    Lescoe, P. / Lavery, D. / Bedard, R. J. et al. | British Library Conference Proceedings | 1991



    Obstacle Avoidance for Unmanned Ground Vehicles in Unstructured Environments

    Pollini, Lorenzo / Cellini, Manuele / Mati, Roberto et al. | AIAA | 2007



    Simulating Shock and Vibration Qualification of Unmanned Ground Vehicles Negotiating Off-Road Terrains

    Sankar, S. / Dhir, A. / Shankla, V. S. et al. | British Library Conference Proceedings | 1991