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首页> 外文会议>Unmanned Systems Technology IX; Proceedings of SPIE-The International Society for Optical Engineering; vol.6561 >World Representations for Unmanned Vehicles
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World Representations for Unmanned Vehicles

机译：世界无人驾驶车辆代表

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Unmanned vehicles (UxV) operate in numerous environments, with air, ground and marine representing the majority of the implementations. All unmanned vehicles, when traversing unknown space, have similar requirements. They must sense their environment, create a world representation, and, then plan a path that safely avoids obstacles and hazards. Traditionally, each unmanned vehicle class used environment specific assumptions to create a unique world representation that was tailored to it operating environment. Thus, an unmanned aerial vehicle (UAV) used the simplest possible world representation, where all space above the ground plane was free of obstacles. Conversely, an unmanned ground vehicle (UGV) required a world representation that was suitable to its complex and unstructured environment. Such a clear cut differentiation between UAV and UGV environments is no longer valid as UAVs have migrated down to elevations where terrestrial structures are located. Thus, the operating environment for a low flying UAV contains similarities to the environments experienced by UGVs. As a result, the world representation techniques and algorithms developed for UGVs are now applicable to UAVs, since low flying UAVs must sense and represent its world in order to avoid obstacles. Defence R&D Canada (DRDC) conducts research and development in both the UGV and UAV fields. Researchers have developed a platform neutral world representation, based upon a uniform 2 1/2-D elevation grid, that is applicable to many UxV classes, including aerial and ground vehicles. This paper describes DRDC's generic world representation, known as the Global Terrain map, and provides an example of unmanned ground vehicle implementation, along with details of it applicability to aerial vehicles.
机译：无人驾驶车辆（UxV）在多种环境中运行，其中空中，地面和海上是大多数实施方案。当穿越未知空间时，所有无人驾驶车辆都有类似的要求。他们必须感知自己的环境，创造世界形象，然后规划一条安全避开障碍物和危险的道路。传统上，每种无人驾驶汽车类都使用特定于环境的假设来创建针对其操作环境量身定制的独特的世界表示。因此，无人飞行器（UAV）使用了最简单的世界表示形式，其中地面以上的所有空间都没有障碍。相反，无人地面车辆（UGV）需要适合其复杂和非结构化环境的世界代表。由于无人机已经向下迁移到地面结构所在的海拔，因此在无人机和UGV环境之间的这种清晰区分不再有效。因此，低速飞行无人机的操作环境与UGV所经历的环境相似。结果，为低速无人机开发的世界表示技术和算法现在适用于无人机，因为低空飞行的无人机必须感知并表示其世界以避免障碍。加拿大国防研发部（DRDC）在UGV和UAV领域进行研发。研究人员基于统一的2 1 / 2-D高程网格，开发了一种平台中立的世界表示形式，适用于许多UxV类，包括空中和地面飞行器。本文介绍了DRDC的通用世界表示形式（称为“全球地形图”），并提供了无人地面车辆实施的示例，以及它对航空器的适用性的详细信息。

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