Geographic Information Systems in Robotic Vehicles

摘要

Robotic vehicles offer potential to the Army for force multiplication and removing the soldier from hazardous environments. The Army robotic vehicle program will provide a supervised autonomy capability with full battlefield mobility. To accomplish this the control system will require a person in the control loop at least part of the time. The Army program incorporates several technologies including a digital terrain data base, product generation capabilities, stereo vision, and an inertial position and attitude unit. These technologies allow for vehicle operation over-the-hill and beyond line-of-sight. This paper will discuss the detailed use of terrain data and terrain data products, such as route planning and three-dimensional synthetic scenes, in the interactive control of a robotic vehicle. Of particular importance is the relation of the terrain data to the vision data and position and attitude data. This paper will also discuss the similarities and difference between GIS requirements for interactive robotic vehicle control and autonomous vehicles, such as in the DARPA Autonomous Land Vehicle program. (Author)