This final report describes the technologies designed and developed by the University of Florida (UF) in support of the Air Force Research Laboratory (AFRL). An off road vehicle (Fig. 1) and a hybrid Toyota Highlander (Fig. 2) have been automated and instrumented with pose estimation (GPS and inertial) and object detection (ranging (LADAR), vision and light detection) sensors. The control architecture consists of four primary elements, i.e. Planning Element, Perception Element, Intelligence Element, and Control Element. The architecture is implemented on a system distributed over ten single-board computers that intercommunicate via the Joint Architecture for Unmanned Systems (JAUS) version 3.2 protocol.
Development of Intelligent Unmanned Systems
2011
34 pages
Report
Keine Angabe
Englisch
Computers, Control & Information Theory , Transportation , Navigation Systems , Autonomous navigation , Ground vehicles , Unmanned , Adaptive systems , Artificial intelligence , Global positioning system , Inertial navigation , Land navigation , Resource management , Robotics , Self operation , Terrain avoidance , Terrain following , Adaptive planning , Agv(Autonomous ground vehicles) , Autonomous vehicles , Jaus(Joint architecture for unmanned systems) , Lane finding , Object tracking , Obstacle detection , Path finders , Path finding , Reactive driver , Route planning , Slam(Simultaneous localization and mapping) , Smart sensors , System architecture , Terrain evaluation , Terrain sensors , Unmanned ground vehicles , Vision based lane finders , Wmks(World model knowledge store)
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