High-fidelity physics-based simulation of a UGV reconnaissance mission in a complex urban environment

Christopher Goodin; Burhman Q. Gates; Christopher L. Cummins; Taylor R. George; P. Jeff Durst; Jody D. Priddy

doi:10.1117/12.883552

23 May 2011 High-fidelity physics-based simulation of a UGV reconnaissance mission in a complex urban environment

Christopher Goodin, Burhman Q. Gates, Christopher L. Cummins, Taylor R. George, P. Jeff Durst, Jody D. Priddy

Proceedings Volume 8045, Unmanned Systems Technology XIII; 80450X (2011) https://doi.org/10.1117/12.883552
Event: SPIE Defense, Security, and Sensing, 2011, Orlando, Florida, United States

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.

Citation Download Citation

Christopher Goodin, Burhman Q. Gates, Christopher L. Cummins, Taylor R. George, P. Jeff Durst, and 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); https://doi.org/10.1117/12.883552

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