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Published on Mar 23, 2012
Unmanned ground vehicles (UGVs) are emerging as an attractive alternative to manned vehicles in a wide variety of risky missions that require navigation over rugged terrains. In order to operate on rugged terrains, UGVs need to be able to rapidly turn around. This need arises because of limitations of perception accuracy and limited situational awareness. In many situations, executing turn around requires a large number of turning maneuvers in a tight space and it needs to be performed rapidly. So the goal of this work was to develop a turn around behavior and automatically generate its supporting data for the UGV to be able to guarantee real-time execution of a reliable N-point turn maneuver in a rugged terrain. This videos demonstrates the developed approach for N-point turn planning and execution on an inclined platform. For more details, please see [Dabbeeru et. al., 2012] at http://terpconnect.umd.edu/~skgupta/P... OR http://terpconnect.umd.edu/~petrsvec/....