Lincoln Laboratory automated four Husky Mark III mine-detection vehicles, the worlds first autonomous vehicles to steer using a novel localizing ground-penetrating radar (LGPR). At nine tons, these autonomous vehicles are some of the largest to be put into combat operations to date. The vehicle is guided by a novel derivation of the pure pursuit steering algorithm adapted to a proportional four-wheel-counter-steer system. Localization data provided by the LGPR is centered on the forward mounted array. The autopilot system was designed and implemented with an operator ease-of-use approach, allowing the simple transition between manual control and autonomous operation.
Automation of Armored Four Wheel Counter Steer Vehicles
2015
20 pages
Report
Keine Angabe
Englisch
Computers, Control & Information Theory , Radiofrequency Detection , Combat Vehicles , Autonomous vehicles , Armored vehicles , Mine detection , Ground penetrating radar , Steering , Autonomous navigation , Artificial intelligence , Simultaneous localization and mapping , Lgpr(localizing ground-penetrating radar)
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