Development and demonstration of autonomous behaviors for urban environment exploration

Gaurav Ahuja; Donald Fellars; Gregory Kogut; Estrellina Pacis Rius; Misha Schoolov; Alexander Xydes

doi:10.1117/12.918509

25 May 2012 Development and demonstration of autonomous behaviors for urban environment exploration

Gaurav Ahuja, Donald Fellars, Gregory Kogut, Estrellina Pacis Rius, Misha Schoolov, Alexander Xydes

Proceedings Volume 8387, Unmanned Systems Technology XIV; 838718 (2012) https://doi.org/10.1117/12.918509
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

Under the Urban Environment Exploration project, the Space and Naval Warfare Systems Center Pacic (SSC- PAC) is maturing technologies and sensor payloads that enable man-portable robots to operate autonomously within the challenging conditions of urban environments. Previously, SSC-PAC has demonstrated robotic capabilities to navigate and localize without GPS and map the ground oors of various building sizes.¹ SSC-PAC has since extended those capabilities to localize and map multiple multi-story buildings within a specied area. To facilitate these capabilities, SSC-PAC developed technologies that enable the robot to detect stairs/stairwells, maintain localization across multiple environments (e.g. in a 3D world, on stairs, with/without GPS), visualize data in 3D, plan paths between any two points within the specied area, and avoid 3D obstacles. These technologies have been developed as independent behaviors under the Autonomous Capabilities Suite, a behavior architecture, and demonstrated at a MOUT site at Camp Pendleton. This paper describes the perceptions and behaviors used to produce these capabilities, as well as an example demonstration scenario.

Citation Download Citation

Gaurav Ahuja, Donald Fellars, Gregory Kogut, Estrellina Pacis Rius, Misha Schoolov, and Alexander Xydes "Development and demonstration of autonomous behaviors for urban environment exploration", Proc. SPIE 8387, Unmanned Systems Technology XIV, 838718 (25 May 2012); https://doi.org/10.1117/12.918509

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