Matthew W. McDaniel

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To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for identifying ground points from 3-D point clouds sensed using LIDAR. The first stage, a local height-based filter, discards most of the(More)
Autonomous robotic navigation in forested environments is difficult because of the highly variable appearance and geometric properties of the terrain. In most navigation systems, researchers assume a priori knowledge of the terrain appearance properties, geometric properties, or both. In forest environments, vegetation such as trees, shrubs, and bushes has(More)
To operate autonomously in forested terrain, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground) and obstacles in the environment. To travel long distances, they must be able to track their position even Page 2 when the forest canopy obstructs GPS signals, e.g. by tracking progress relative to(More)
To operate autonomously, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground) and obstacles. Current sensing techniques work well for structured environments such as urban areas, where the roads and obstacles are usually highly predictable and well-defined. However, autonomous navigation on(More)
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