Under the Robotics Collaborative Technology Alliance A Capstone Experiment to Assess Unmanned Ground Vehicle Tactical Behaviors Developed - (PPT)

摘要

Early cross-country recon missions: Operator generates global plan (full feature data) through OCU; Robot follows waypoints, deviating as local navigation demands; Operators remotely monitor robot, teleop out of trouble, initiate scan Later cross-country recon missions: Vary integrity and completeness of global map data; Require local repositioning at observation point to improve view; Require stealthy route, fast route, etc. Illustrative challenge - vegetated cul-de-sac/dynamic obstacles: Global path would lead the robot into a vegetated cul-de-sac; Robot would back-up to reassess local costs and search for exit; Too deep a cul-de-sac or a local path too inconsistent with the global route would require operator assistance; Dynamic obstacles (trucks, people) persist in the local map.