NDLI: Spaceborne path planning for unmanned ground vehicles (UGVs)

Content Provider	IEEE Xplore Digital Library
Author	Frederick, P. Kania, R. Rose, M.D. Ward, D. Benz, U. Baylot, A. Willis, M.J. Yamauchi, H.
Copyright Year	2005
Description	Author affiliation: US Army Tank, Automotive, Research & Devel. Center, Warren, MI, USA (Frederick, P.; Kania, R.; Rose, M.D.)
Abstract	The combination of high-resolution multi-spectral satellite imagery and advanced COTS object-oriented image processing software provides for an automated terrain feature extraction and classification capability. This information, along with elevation data, infrared imagery, a vehicle mobility model and various metadata (local weather reports, Zobler Soil map, etc.), is fed into automated path planning software to provide a stand-alone ability to generate rapidly updateable dynamic mobility maps for Manned or Unmanned Ground Vehicles (MGVs or UGVs). These polygon based mobility maps can reside on an individual platform or a tactical network. When new information is available, change files are generated and ingested into existing mobility maps based on user selected criteria. Bandwidth concerns are mitigated by the use of shape files for the representation of the data (e.g. each object in the scene is represented by a shape file and thus can be transmitted individually). User input (desired level of stealth, required time of arrival, etc.) determines the priority in which objects are tagged for updates. This technology was tested at Fort Knox, Kentucky October 11th - 15th 2004. Satellite imagery was acquired in a near-real-time fashion for the selected test site. Portions of the resulting geo-rectified image were compared with surveyed range locations to assess the accuracy of the approach. The derived UGV Path Plans were ingested into a Stryker UGV and the routes were autonomously traversed. This paper will detail the feasibility of this approach based of the results of this testing.
Starting Page	3134
Ending Page	3141
File Size	5604876
Page Count	8
File Format	PDF
ISBN	0780393937
DOI	10.1109/MILCOM.2005.1606139
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-10-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Land vehicles Testing Satellites Shape Image processing Feature extraction Infrared imaging Road vehicles Object oriented modeling
Content Type	Text
Resource Type	Article

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