Collision avoidance strategies for special-purpose Unmanned Ground Vehicles in dynamic environments with human presence
Year: 2025
Type: article
Abstract: The evaluation of collision avoidance strategies for special-purpose unmanned ground vehicles (UGVs) operating in dynamic environments with human presence is presented in this study. The autonomous wheeled vehicle equipped with an armament module for combat and reconnaissance tasks is described considering mission specifications and off-road usage scenarios. The main operational parameters are outlined, and the obstacle detection features integrated into the PERUN vehicle are introduced. The control system architecture is presented, along with installed sensors and their perception capabilities of surrounding object detection. Safety considerations in operational conditions where human presence force appropriate collision avoidance actions are discussed. Real field tests conducted in diverse weather and environmental conditions, such as industrial area and unstructured terrains, are shown to demonstrate the system's performance. Carried out tests show that the collision avoidance system enables obstacle detection and proving the effectiveness of steering strategies for the platform's navigation. The safe operation of unmanned systems in environments with human presence is crucial for the successful deployment and scalability of UGV technologies.
DOI: 10.37105/iboa.250
Author: Marek NOWAKOWSKI
Institution: Wojskowy Instytut Techniki Pancernej i Samochodowej
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4408990720