DocumentCode
2991489
Title
Construction of an obstacle map and its realtime implementation on an Unmanned Ground Vehicle
Author
Desai, Pranav ; Sevil, Hakki Erhan ; Dogan, Atilla ; Huff, Brian
Author_Institution
Autonomous Vehicles Lab., Univ. of Texas at Arlington, Arlington, TX, USA
fYear
2011
fDate
11-12 April 2011
Firstpage
139
Lastpage
144
Abstract
This paper presents the development of an obstacle mapping system based on the concept of a Probabilistic Threat Exposure Map (PTEM). The paper also discusses the realtime embedded implementation of this obstacle mapping system on a small Unmanned Ground Vehicle (UGV) to support realtime obstacle avoidance. These activities are a part of a larger effort to establish a theoretical foundation for autonomous and cooperative multi-UxV guidance solutions in adversarial environments.
Keywords
collision avoidance; mobile robots; remotely operated vehicles; road vehicles; adversarial environment; cooperative multiUxV guidance solution; obstacle avoidance; obstacle mapping system; probabilistic threat exposure map; real time implementation; unmanned ground vehicle; Clustering algorithms; Compass; Microcontrollers; Navigation; Probabilistic logic; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Technologies for Practical Robot Applications (TePRA), 2011 IEEE Conference on
Conference_Location
Woburn, MA
Print_ISBN
978-1-61284-482-4
Type
conf
DOI
10.1109/TEPRA.2011.5753496
Filename
5753496
Link To Document