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Ackermann UGV with 2D Mapping for Unknown Environments

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Part of the Smart Innovation, Systems and Technologies book series (SIST,volume 181)


UGVs have been used to replace humans in high-risk tasks such as explore caverns, minefields or places contaminated with radiation but also, they are used to research path planners in order to replace human intervention to drive a car. UGVs can be controlled remotely from a safety place to avoid injuries, lethal damage and reduce fatal accidents. However, in order to acquire information about vehicle surroundings, it is necessary to use sensors or cameras that provide information to the remote operator in order to make the best decision of the vehicle course. Correspondingly, the information acquired by the sensors can be used to build an environment map, which will be useful for future applications, or to save a register of the explored area. The work proposed develop and build a vehicle with an Ackermann steering that can be controlled remotely by an operator using a portable computer, with the purpose of explore unknown environments using stereo vision cameras and build a map with information about the surroundings.


  • UGV
  • Stereo vision
  • Remote control
  • Mapping

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  • DOI: 10.1007/978-981-15-4875-8_4
  • Chapter length: 9 pages
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This work is part of the project perception and localization system for autonomous navigation of rotor micro aerial vehicles in GPS-denied environments, VisualNavDrone, 2016-PIC-024, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.

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Correspondence to Wilbert G. Aguilar .

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Aguilar, W.G., Asimbaya, I., Albán, P., Fernández, Y. (2020). Ackermann UGV with 2D Mapping for Unknown Environments. In: Rocha, Á., Paredes-Calderón, M., Guarda, T. (eds) Developments and Advances in Defense and Security. MICRADS 2020. Smart Innovation, Systems and Technologies, vol 181. Springer, Singapore.

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