Landmark-based robust navigation for tactical UGV control in GPS-denied communication-degraded environments

Yoichiro Endo; Jonathan C. Balloch; Alexander Grushin; Mun Wai Lee; David Handelman

doi:10.1117/12.2224231

13 May 2016 Landmark-based robust navigation for tactical UGV control in GPS-denied communication-degraded environments

Yoichiro Endo, Jonathan C. Balloch, Alexander Grushin, Mun Wai Lee, David Handelman

Proceedings Volume 9837, Unmanned Systems Technology XVIII; 98370F (2016) https://doi.org/10.1117/12.2224231
Event: SPIE Defense + Security, 2016, Baltimore, MD, United States

Abstract

Control of current tactical unmanned ground vehicles (UGVs) is typically accomplished through two alternative modes of operation, namely, low-level manual control using joysticks and high-level planning-based autonomous control. Each mode has its own merits as well as inherent mission-critical disadvantages. Low-level joystick control is vulnerable to communication delay and degradation, and high-level navigation often depends on uninterrupted GPS signals and/or energy-emissive (non-stealth) range sensors such as LIDAR for localization and mapping. To address these problems, we have developed a mid-level control technique where the operator semi-autonomously drives the robot relative to visible landmarks that are commonly recognizable by both humans and machines such as closed contours and structured lines. Our novel solution relies solely on optical and non-optical passive sensors and can be operated under GPS-denied, communication-degraded environments. To control the robot using these landmarks, we developed an interactive graphical user interface (GUI) that allows the operator to select landmarks in the robot’s view and direct the robot relative to one or more of the landmarks. The integrated UGV control system was evaluated based on its ability to robustly navigate through indoor environments. The system was successfully field tested with QinetiQ North America’s TALON UGV and Tactical Robot Controller (TRC), a ruggedized operator control unit (OCU). We found that the proposed system is indeed robust against communication delay and degradation, and provides the operator with steady and reliable control of the UGV in realistic tactical scenarios.

Citation Download Citation

Yoichiro Endo, Jonathan C. Balloch, Alexander Grushin, Mun Wai Lee, and David Handelman "Landmark-based robust navigation for tactical UGV control in GPS-denied communication-degraded environments", Proc. SPIE 9837, Unmanned Systems Technology XVIII, 98370F (13 May 2016); https://doi.org/10.1117/12.2224231

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
13 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Navigation systems

Video

Control systems

Cameras

Telecommunications

Sensors

Image segmentation

Show All Keywords

Keywords/Phrases

Search In:

Publication Years