UGV technology for urban navigation
2004 (English)In: UNMANNED GROUND VEHICLE TECHNOLOGY VI / [ed] Gerhart, GR; Shoemaker, CM; Gage, DW, BELLINGHAM: SPIE-INT SOC OPTICAL ENGINEERING , 2004, Vol. 5422, 191-197 p.Conference paper (Refereed)
Deployment of humans in an urban setting for search and rescue type missions poses a major risk to the personnel. In rescue missions the risk can stem from debris, gas, etc and in a strategic setting the risk can stem from snipers, mines, gas etc. There is consequently a natural interest in studies of how UGV technology can be deployed for tasks such as reconnaissance, retrieval of objects (bombs, injured people, etc.). Today most vehicles used by the military and bomb squads are tele-operated and without any autonomy. This implies that operation of the vehicles is a stressful and demanding task. Part of this stress can be removed through introduction of autonomous functionality. Autonomy implicitly requires use of map information to allow the system to localize and traverse a particular area, in addition autonomous mapping of an area is a valuable functionality as part of reconnaissance missions to provide an initial inventory of a new area. A host of different sensory modalities can be used for mapping. In general no single modality is, however, sufficient for robust and efficient mapping. In the present study GPS, Inertial Cues, Laser ranging and Odometry is used for simultaneous mapping and localisation in urban environments. The mapping is carried out autonomously using a coverage strategy to ensure full mapping of a particular area. In relation to mapping another important issue is the design of an efficient user interface that allows a regular rescue worker, or a soldier, to operate the vehicle without detailed knowledge about robotics. A number of different designs for user interfaces will be presented and results from studies with a range of end-users (soldiers) will also be reported. The complete system has been tested in an urban warfare facility outside of Stockholm. Detailed results will be reposted from two different test facilities.
Place, publisher, year, edition, pages
BELLINGHAM: SPIE-INT SOC OPTICAL ENGINEERING , 2004. Vol. 5422, 191-197 p.
, PROCEEDINGS OF THE SOCIETY OF PHOTO-OPTICAL INSTRUMENTATION ENGINEERS (SPIE), ISSN 0277-786X ; 5422
UGV technology, robotics, SAR
Atom and Molecular Physics and Optics
IdentifiersURN: urn:nbn:se:kth:diva-43927DOI: 10.1117/12.541053ISI: 000224151200019ScopusID: 2-s2.0-10444238440ISBN: 0-8194-5345-5OAI: oai:DiVA.org:kth-43927DiVA: diva2:451453
Conference on Unmanned Ground Vehicle Technology VI. Orlando, FL. APR 13-15, 2004
QC 201110252011-10-252011-10-192011-11-01Bibliographically approved