Fusing ultra-wideband radar and lidar for small UGV navigation in all-weather conditions

Brian Yamauchi

doi:10.1117/12.850386

7 May 2010 Fusing ultra-wideband radar and lidar for small UGV navigation in all-weather conditions

Brian Yamauchi

Proceedings Volume 7692, Unmanned Systems Technology XII; 76920O (2010) https://doi.org/10.1117/12.850386
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

Autonomous small UGVs have the potential to greatly increase force multiplication capabilities for infantry units. In order for these UGVs to be useful on the battlefield, they must be able to operate under all-weather conditions. For the Daredevil Project, we have explored the use of ultra-wideband (UWB) radar, LIDAR, and stereo vision for all-weather navigation capabilities. UWB radar provides the capability to see through rain, snow, smoke, and fog. LIDAR and stereo vision provide greater accuracy and resolution in clear weather but has difficulty with precipitation and obscurants. We investigate the ways in which the sensor data from UWB radar, LIDAR, and stereo vision can be combined to provide improved performance over the use of a single sensor modality. Our research includes both traditional sensor fusion, where data from multiple sensors is combined in a single representation, and behavior-based sensor fusion, where the data from one sensor is used to activate and deactivate behaviors using other sensor modalities. We use traditional sensor fusion to combine LIDAR and stereo vision for improved obstacle avoidance in clear air, and we use behavior-based sensor fusion to select between radar-based and LIDAR/vision-based obstacle avoidance based on current environmental conditions.

Citation Download Citation

Brian Yamauchi "Fusing ultra-wideband radar and lidar for small UGV navigation in all-weather conditions", Proc. SPIE 7692, Unmanned Systems Technology XII, 76920O (7 May 2010); https://doi.org/10.1117/12.850386

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available