Algorithm for Threat Area Avoidance in Military Unmanned Ground Vehicles

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In addition to the conventional obstacle avoidance capabilities, the Unmanned Ground Vehicles (UGVs) used in military environments should be capable of avoiding certain areas which could inflict damage to the UGVs or result in the failure of the mission. The threat area could be minefields or an area vulnerable to enemy fire or detection. In this paper we have proposed and implemented an algorithm for ‘Threat Area Avoidance (TAA)’. Our algorithm was incorporated in two of the obstacle avoidance methods, Vector Polar Histogram (VPH) and the Enhanced VPH. The performance of our algorithm was evaluated in terms of distance overhead, navigation time, computational time and UGV Orientation Angle Variation Index. Through simulations, we observed that the proposed algorithm avoids a potential threat area (even though it is free of any obstacles) and takes a safe path while navigating between the start and goal points, with minimum overhead in computation.

Info:

Periodical:

Advanced Materials Research (Volumes 403-408)

Edited by:

Li Yuan

Pages:

4456-4461

Citation:

D. Rammoorthy et al., "Algorithm for Threat Area Avoidance in Military Unmanned Ground Vehicles", Advanced Materials Research, Vols. 403-408, pp. 4456-4461, 2012

Online since:

November 2011

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$41.00

[1] http: /www. globalsecurity. org/military/systems/ground/ugv. htm.

[2] D. An, H. Wang, VPH: a new laser radar based obstacle avoidance method for intelligent mobile robots, IEEE Int. Conf. on Intelligent Control and Automation, Vol. 5, pp.4681-4685, June (2004).

DOI: https://doi.org/10.1109/wcica.2004.1342407

[3] Jianwei Gong, Yulin Duan, Yiming Man, Guangming Xiong VPH+: An enhanced Vector polar histogram method for mobile robot obstacle avoidance, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation August 5 - 8, 2007, Harbin, China.

DOI: https://doi.org/10.1109/icma.2007.4304000