DMCA
Unmanned Ground Vehicle Navigation Using Aerial Ladar Data
BibTeX
@MISC{V_unmannedground,
author = {Nicolas V and Raghavendra Rao Donamukkala and Martial Hebert},
title = {Unmanned Ground Vehicle Navigation Using Aerial Ladar Data},
year = {}
}
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Abstract
Abstract — In this paper, we investigate the use of overhead high-resolution three-dimensional (3-D) data for enhancing the performances of an Unmanned Ground Vehicle (UGV) in vegetated terrains. Data were collected using an airborne laser and provided prior to the robot mission. Through extensive and exhaustive field testing, we demonstrate the significance of such data in two areas: robot localization and global path planning. Absolute localization is achieved by registering 3-D local ground ladar data with the global 3-D aerial data. The same data is used to compute traversability maps that are used by the path planner. Vegetation is filtered both in the ground data and in the aerial data in order to recover the load bearing surface. Index Terms — Unmanned Ground Vehicle, terrain registration, localization, path planning, vegetation filtering, overhead data,
Keyphrases
ground vehicle index term overhead data aerial data traversability map vegetated terrain global 3-d aerial data airborne laser 3-d local ground ladar data path planner robot mission ground data path planning exhaustive field robot localization load bearing surface absolute localization vegetation filtering overhead high-resolution global path planning terrain registration
