Target Detection, Acquisition, and Prosecution from an Unmanned Ground Vehicle

摘要

Weapon payloads are becoming increasingly important components of unmanned ground vehicles (UGVs). However weapon payloads are extremely difficult to teleoperate. This paper explores the issues involved with automating several aspects of the operations of a weapon payload. These operations include target detection, acquisition, and tracking. Various approaches to these issues are discussed, and the development and results from two different working prototype systems developed at Space and Naval Warfare Systems Center, San Diego (SSC San Diego) are presented. One approach employs a motion-based scheme for target identification, while the second employs an appearance based scheme. Target selection, arming and firing remain teleoperated in both systems.