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.


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    Titel :

    Automation of Armored Four Wheel Counter Steer Vehicles


    Beteiligte:
    B. M. Stanley (Autor:in) / E. M. Froehlich (Autor:in) / J. C. Koechling (Autor:in) / M. T. Cornick (Autor:in)

    Erscheinungsdatum :

    2015


    Format / Umfang :

    20 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





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