19-05-2012, 10:49 AM
CONSTRUCTION OF AN OBSTACLE MAP AND ITS REALTIME IMPLEMENTATION ON AN UNMANNED GROUND VEHICLE
ABSTRACT
This paper presents the development of an obstacle mapping system based on the concept of a Probabilistic Threat Exposure Map (PTEM). The paper also discusses the realtime embedded implementation of this obstacle mapping system on a small Unmanned Ground Vehicle (UGV) to support realtime obstacle avoidance.
These activities are a part of a larger effort to establish a theoretical foundation for autonomous and cooperative multi-UxV guidance solutions in adversarial environments.