Local free space mapping and path guidance

This paper describes a method of mapping the local environment in front of a ground vehicle using acoustical sensors. The map outlines the extent of known freespace. This information is used to generate navigation points in the form of a subgoal and avoidance points which may be used by another process to dynamically generate a path. The map information is also used to intelligently steer the sensors to areas of the environment requiring further investigation. Inconsistencies in sensor returns are resolved with multiple sensor scans. While any inconsistencies are being resolved, the map, if in error, errs on the side of safety. These algorithms are being developed by the Naval Ocean Systems Center (NOSC) on the Ground Surveillance Robot project.