AUTONOMOUS CROSS COUNTRY NAVIGATION TECHNOLOGIES

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Authors
  1. Aitken, V.
Corporate Authors
Defence Research Establishment Suffield, Ralston ALTA (CAN);Carnegie-Mellon Univ, Pittsburgh PA (US) Robotics Inst
Abstract
The document reports on the work done on the research program titled "Autonomous Cross Country Navigation Technologies". This program was a part of a collaborative effort between Boeing Inc., the US Military Task Automotive Command (TACOM), Defence Research Establishment Suffield, and Carnegie Mellon and has been named the "Transitional Unmanned Ground Vehicle" (TUGV) program. The main motivation behind this project was to evolve sensors and algorithms for autonomous cross country operation closer to military applications. To this extent we sought sensors that were quiet, robust and had the possibility of enabling high speed navigation. Additionally, we sought to port the algorithms to Ada running on military spec computing hardware. The program was planned in three phases starting with implementation of the sensors and algorithms on a workstation mounted on the vehicle and culminating in a system completely resident on a military spec "super computer". We have demonstrated autonomous operation of our HMMWV in a cross country setting. The final system used stereo vision and previously developed navigation software to achieve speeds in the order of 5 miles per hour. The vehicle successfully steered around obstacles and was able to track designated paths over an extended period of time. The results are noteworthy since this program is one of a few programs in the world that have accomplished outdoor navigation using stereo vision. TRUNCATED
Keywords
Field of view;TUGV(Transitional Unmanned Ground Vehicle);HMMWV(High Mobility Multipurpose Wheeled Vehicle);Workstations;Autonomous navigation;Unmanned ground vehicle
Report Number
DRES-CR-96-32 — Contractor Report (Final)
Date of publication
01 May 1996
Number of Pages
65
DSTKIM No
97-01401
CANDIS No
501468
Format(s):
Hardcopy;Document Image stored on Optical Disk

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