Page 24 - Autonomous Mobile Robots

8 Autonomous Mobile Robots

TABLE 1.1
Classes of UGV
Class kph Capability gaps Perception tasks TRL6
Searcher (TGV) All-weather sensors Not applicable 2006
Donkey (SAP/F) 40 Localization and mapping Detect static obstacles, 2009
algorithms traversable paths
Wingman 100 Long-range sensors and Terrain assessment to detect 2015
(PC-AGV) sensors for classifying potential cover
vegetation
Hunter-killer 120 Multiple sensors and Identification of enemy 2025
(NC-AGV) fusion forces, situation awareness

The road map identifies perception as the priority area for development and
defines increasing levels of “technology readiness.” Some of the require-
ments and capability gaps for the four classes are summarized and presen-
ted in Table 1.1. Technology readiness level 6 (TRL 6) is defined as the
point when a technology component has been demonstrated in a relevant
environment.
These roles range from the rather dumb donkey-type device used to carry
equipment to autonomous lethal systems making tactical decisions in open
country. It must be remembered, as exemplified in the inaugural Grand
Challenge, that the technology readiness levels of most research is a long
way from meeting the most simple of these requirements. The Challenge is
equivalent to a simple A-to-B mobility task for the SAP/F class of UGVs. On
a more positive note, the complexity of the Grand Challenge should not be
understated, and many past research programs, such as Demo III, have demon-
strated impressive capability. Such challenges, with clearly defined objectives,
are essential for making progress as they bring critical problems to the fore and
provide a common benchmark for evaluating technology.

1.2 VISUAL SENSING TECHNOLOGY
1.2.1 Visual Sensors
We first distinguish between passive and active sensor systems: A passive sensor
system relies upon ambient radiation, whereas an active sensor system illumin-
ates the scene with radiation (often laser beams) and determines how this is
reflected by the surroundings. Active sensors offer a clear advantage in outdoor
applications; they are less sensitive to changes in ambient conditions. How-
ever, some applications preclude their use; they can be detected by the enemy

© 2006 by Taylor & Francis Group, LLC

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