23 May 2011 High-fidelity physics-based simulation of a UGV reconnaissance mission in a complex urban environment
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Abstract
Physics-based simulations of autonomous unmanned ground vehicles (UGV) present unique challenges and advantages compared to real-time simulations with lower-fidelity models. We have created a high-fidelity simulation environment, called the Virtual Autonomous Navigation Environment (VANE), to perform physics-based simulations of UGV. To highlight the capabilities of the VANE, we recently completed a simulation of a robot performing a reconnaissance mission in a typical Middle Eastern town. The result of the experiment demonstrated the need for physics-based simulation for certain circumstances such as LADAR returns from razor wire and GPS dropout and dilution of precision in urban canyons.
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Christopher Goodin, Christopher Goodin, Burhman Q. Gates, Burhman Q. Gates, Christopher L. Cummins, Christopher L. Cummins, Taylor R. George, Taylor R. George, P. Jeff Durst, P. Jeff Durst, Jody D. Priddy, Jody D. Priddy, "High-fidelity physics-based simulation of a UGV reconnaissance mission in a complex urban environment", Proc. SPIE 8045, Unmanned Systems Technology XIII, 80450X (23 May 2011); doi: 10.1117/12.883552; https://doi.org/10.1117/12.883552
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