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Autonomous ground vehicle navigation requires the integration of many technologies such as path planning, position and orientation sensing, vehicle control, and obstacle avoidance. The work presented here focuses on the control of a non-holonomic ground vehicle as it tracks a given path. A new path tracking technique called 'vector pursuit' is presented.(More)
This paper describes how the functionality of the DoD Joint Architecture for Unmanned Systems (JAUS) was expanded by developing experimental components related to off-line and reactive path planning and world modeling. JAUS defines a set of reusable components and their interfaces. In order to ensure that the JAUS architecture will be applicable to the(More)
Use of unmanned systems is rapidly growing within the military and civilian sectors in a variety of roles including reconnaissance, surveillance, explosive ordinance disposal (EOD), and force-protection and perimeter security. As utilization of these systems grows at an ever increasing rate, the need for unmanned systems teaming and inter-system(More)
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