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Proceedings Paper

Autonomous path-planning navigation system for site characterization
Author(s): Arturo L. Rankin; Carl D. Crane; David G. Armstrong; Allen D. Nease; H. Edward Brown
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Paper Abstract

The location and removal of buried munitions is an important yet hazardous task. Current development is aimed at performing both the ordnance location and removal tasks autonomously. An autonomous survey vehicle (ASV) named the Gator has been developed at the Center for Intelligent Machines and Robotics, under the direction of Wright Laboratory, Tyndall Air Force Base, Florida, and the Navy Explosive Ordnance Disposal Technology Division, Indian Head, Maryland. The primary task of the survey vehicle is to autonomously traverse an off-road site, towing behind it a trailer containing a sensor package capable of characterizing the sub-surface contents. Achieving 00 percent coverage of the site is critical to fully characterizing the site. This paper presents a strategy for planning efficient paths for the survey vehicle that guarantees near-complete coverage of a site. A small library of three in-house developed path planners are reviewed. A strategy is also presented to keep the trailer on-path and to calculate the percent of coverage of a site with a resolution of 0.01 m2. All of the algorithms discussed in this paper were initially developed in simulation on a Silicon Graphics computer and subsequently implemented on the survey vehicle.

Paper Details

Date Published: 27 May 1996
PDF: 11 pages
Proc. SPIE 2738, Navigation and Control Technologies for Unmanned Systems, (27 May 1996); doi: 10.1117/12.241081
Show Author Affiliations
Arturo L. Rankin, Univ. of Florida (United States)
Carl D. Crane, Univ. of Florida (United States)
David G. Armstrong, Univ. of Florida (United States)
Allen D. Nease, Air Force Wright Lab. (United States)
H. Edward Brown, Air Force Wright Lab. (United States)


Published in SPIE Proceedings Vol. 2738:
Navigation and Control Technologies for Unmanned Systems
Scott A. Speigle, Editor(s)

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