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International Conference of Research Applied to Defense and Security

MICRADS 2020: Developments and Advances in Defense and Security pp 45–53Cite as

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)

Abstract

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.

Keywords

  • UGV
  • Stereo vision
  • Remote control
  • Mapping

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  • DOI: 10.1007/978-981-15-4875-8_4
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Acknowledgements

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.

Author information

Authors and Affiliations

  1. CICTE, DEEL, Universidad de las Fuerzas Armadas ESPE, 171103, Sangolquí, Ecuador

    Wilbert G. Aguilar, Israel Asimbaya & Pablo Albán

  2. FIS, Escuela Politécnica Nacional, Quito, Ecuador

    Wilbert G. Aguilar

  3. GREC, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

  4. Universidad Nacional de Educación, Azogues, Ecuador

    Yéssica Fernández

Authors
  1. Wilbert G. Aguilar
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  2. Israel Asimbaya
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  3. Pablo Albán
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  4. Yéssica Fernández
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. Departamento de Engenharia Informática, Universidade de Coimbra, Coimbra, Portugal

    Dr. Álvaro Rocha

  2. Centro de Investigación Científica y Tecnológica del Ejército (CICTE), Universidad de las Fuerzas Armadas ESPE, Sangolqui, Ecuador

    Manolo Paredes-Calderón

  3. Universidad Estatal Península de Santa Elena, La Libertad, Ecuador

    Dr. Teresa Guarda

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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. https://doi.org/10.1007/978-981-15-4875-8_4

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