Accession Number : ADA192970
Title : Local Free-Space Mapping and Path Guidance for Mobile Robots.
Descriptive Note : Technical rept. Apr-Oct 86,
Corporate Author : NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA
Personal Author(s) : Gex, William T ; Campbell, Nancy L
PDF Url : ADA192970
Report Date : Mar 1988
Pagination or Media Count : 22
Abstract : A method was developed of mapping the local environment in front of a ground vehicle that employs acoustic sensors. The extent of known free space is used to generate navigation points, in the form of a subgoal and avoidance points, which may be used by another process to generate a path. The map information is also used to steer the sensors to areas of the environment that require further investigation. In consistencies in sensor returns are resolved with multiple sensor scans.
Descriptors : *ROBOTS, *AUTONOMOUS NAVIGATION, ACOUSTIC DETECTORS, GROUND VEHICLES, GUIDANCE, MAPS, MOBILE, MULTISENSORS, PATHS, SCANNING, STEERING, ACOUSTIC SURVEILLANCE, ARMORED PERSONNEL CARRIERS
Subject Categories : Navigation and Guidance
Distribution Statement : APPROVED FOR PUBLIC RELEASE