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