Accession Number:

ADA605014

Title:

Traversability Analysis for Unmanned Ground Vehicles: Interpreting the Environment

Descriptive Note:

Technical memo

Corporate Author:

DEFENCE RESEARCH AND DEVELOPMENT SUFFIELD (ALBERTA)

Personal Author(s):

Report Date:

2006-12-01

Pagination or Media Count:

36.0

Abstract:

Scientists at Defence RD Canada Suffield have been investigating autonomous operation of Unmanned Ground Vehicles UGVs. In order to navigate unknown terrain effectively, UGVs must be able to create an accurate representation of the operational environment. This is typically done by constructing a geometric representation of the environment, called a Terrain Map, from exteroceptive and proprioceptive data streams. This Terrain Map can further be analyzed to provide a measure of the traversability of the terrain. The resulting Traversability Map can be utilized by path planning and obstacle avoidance algorithms to determine the best path to follow. This paper discusses DRDC s Traversability Map as a method of world representation. The Traversability Map interprets geometric data by calculating statistics about the environment to determine whether an area is traversable or not. In doing so, the Traversability Map interprets geometry from a vehicle specific context, allowing for the unique mobility characteristics of platforms to dictate map parameters.

Subject Categories:

  • Numerical Mathematics
  • Cybernetics
  • Surface Transportation and Equipment
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE