18 Aug 2023

Unmanned Ground Vehicle (UGV) Path Planning in 2.5D and 3D

Abstract: Herein, we explored path planning in 2.5D and 3D for unmanned ground vehicle (UGV) applications. For real-time 2.5D navigation, we investigated generating 2.5D occupancy grids using either elevation or traversability to determine path costs. Compared to elevation, traversability, which used a layered approach generated from surface normals, was more robust for the tested environments. A layered approached was also used for 3D path planning. While it was possible to use the 3D approach in real time, the time required to generate 3D meshes meant that the only way to effectively path plan was to use a preexisting point cloud environment. As a result, we explored generating 3D meshes from a variety of sources, including handheld sensors, UGVs, UAVs, and aerial lidar.

28 Nov 2022

Cross Country Mobility (CCM) Modeling Using Triangulated Irregular Networks (TIN)

Abstract: Cross country mobility (CCM) models terrain that has insufficient or unavailable infrastructure for crossing. This historically has been done with either hand-drawn and estimated maps or with raster-based terrain analysis, both of which have their own strengths and weaknesses. In this report the authors explore the possibility of using triangulated irregular networks (TINs) as a means of representing terrain characteristics used in CCM and discuss the possibilities of using such networks for routing capabilities in lieu of a traditional road-based network. The factors used to calculate CCM are modified from previous methods to capture a more accurate measurement of terrain characteristics. Using a TIN to store and represent CCM information achieves comparable results to raster cost analysis with the additional benefits of an integrated network useful for visualization and routing and a reduction in the number of related files. Additionally, TINs can in some cases more accurately show the contours of the landscape and reveal feature details or impediments that may be lost within a raster, thus improving the quality of CCM overlays.

7 Nov 2022

Cold Regions Vehicle Start: Next-Generation Lithium-Ion Battery Technologies for Stryker Vehicles

Abstract: Operating vehicles in extremely cold environments is a significant problem for not only the public but also the military. The Department of Defense has encountered issues when trying to reliably cold start large, heavy-duty military vehicles, specifically the M1126 Stryker Combat Vehicle, in cold regions. As noted in previous work, the issue stems from the current battery technology’s limited temperature range. This current project utilized the protocol established in the previous phase to evaluate next-generation lithium-ion battery technologies for use in cold regions. Selected battery technologies met necessary military specifications for use in large military combat vehicles and were evaluated using a mechanical load system developed in previous work to simulate the starting of a Stryker engine. This work also evaluated the performance of the existing battery technology of a Stryker under Alaskan winter temperatures, which will verify the accuracy of the simulated cold room testing on the mechanical load system. The results of the tests showed that while the system was able to reliably operate down to −20°C, the battery management system encountered challenges at the lower end of the temperature range. This technology has a potential to reliably support cold regions operations but needs further evaluation.