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Navigation of military and space unmanned ground vehicles in unstructured terrainsDevelopment 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.
Document ID
19940025777
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lescoe, Paul
(Army Tank-Automotive Command Warren, MI., United States)
Lavery, David
(NASA Headquarters Washington, DC United States)
Bedard, Roger
(NASA Headquarters Washington, DC United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1991
Publication Information
Publication: Defence Research Establishment Suffield, Proceedings of the 3rd Conference on Military Robotic Applications
Subject Category
Aircraft Communications And Navigation
Accession Number
94N30282
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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