Mobility Performance Algorithms for Small Unmanned Ground Vehicles

Richmond, Paul; Mason, George L.; Coutermarsh, Barry A.; Pusey, Jason; Moore, Victoria D.

doi:10.21236/ada500849

Cited by 5 publications

(2 citation statements)

References 58 publications

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“…Research concerning the above were conducted in the direction of using less detailed maps for this purpose [24]. The presented experiments can, therefore, supplement the previously published works on the issue of the terrain accessibility of unmanned vehicles [30][31][32].…”

Section: Related Workmentioning

confidence: 56%

Analysis of the Possibilities of Using Different Resolution Digital Elevation Models in the Study of Microrelief on the Example of Terrain Passability

Dawid

Pokonieczny

2020

Remote Sensing

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In this article, we discuss issues concerning the development of detailed passability maps, which are used in the crisis management process and for military purposes. The paper presents the authorial methodology of the automatic generation of these maps with the use of high-resolution digital elevation models (DEMs) acquired from airborne laser scanning (light detection and ranging (LIDAR)) and photogrammetric data obtained from unmanned aerial vehicle (UAV) measurements. The aim of the article is to conduct a detailed comparison of these models in the context of their usage in passability map development. The proposed algorithm of map generation was tested comprehensively in terms of the source of the used spatial data, the resolution, and the types of vehicles moving in terrain. Tests were conducted on areas with a diversified landform, with typical forms of relief that hinder vehicle movement (bluffs and streams). Due to the huge amount of data to be processed, the comprehensive analysis of the possibilities of using DEMs in different configurations of pixel size was executed. This allowed for decreasing the resolution of the model while maintaining the appropriate accuracy properties of the resulting passability map. The obtained results showed insignificant disparities between both sources of used DEMs and demonstrated that using the model with the 2.5 m pixel size did not significantly degrade the accuracy of the passability maps, which has a huge impact on their generation time.

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Section: Related Workmentioning

confidence: 56%

Analysis of the Possibilities of Using Different Resolution Digital Elevation Models in the Study of Microrelief on the Example of Terrain Passability

Dawid

Pokonieczny

2020

Remote Sensing

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“…al. [7] in characterizing mobility performance required for unmanned ground vehicles to negotiate obstacles.…”

Section: Discussionmentioning

confidence: 99%

Determining forces required to override obstacles for ground vehicles

Mason

Gates

Moore

2012

Journal of Terramechanics

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The military is constantly expanding the use of unmanned ground vehicles in warfighting applications that often involve complex environments. Part of the focus of military research is to improve or validate existing routing algorithms which are used to predict vehicle mobility. Routing algorithms are based on the time required for vehicle movement through a series of obstacles such as trees or fences, thus requiring an assessment of the ability to override such obstacles as compared to finding an alternate maneuver path. The required overriding force can be computed and compared to a vehicle's tractive force to determine the best viable option. If overriding the obstacle is an option (tractive force exceeds the required overriding force), the delay in overriding can be assessed as compared to the delay in maneuvering around the obstacle. This study provides a quick and reasonable calculation of the force required to override specific types of vertically embedded obstacles to support the determination of movement capabilities for unmanned ground vehicles on the battlefield. Published by Elsevier Ltd. on behalf of ISTVS.

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