9 May 2006 Application of historical mobility testing to sensor-based robotic performance
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Abstract
The USA Engineer Research and Development Center (ERDC) has conducted on-/off-road experimental field testing with full-sized and scale-model military vehicles for more than fifty years. Some 4000 acres of local terrain are available for tailored field evaluations or verification/validation of future robotic designs in a variety of climatic regimes. Field testing and data collection procedures, as well as techniques for quantifying terrain in engineering terms, have been developed and refined into algorithms and models for predicting vehicle-terrain interactions and resulting forces or speeds of military-sized vehicles. Based on recent experiments with Matilda, Talon, and Pacbot, these predictive capabilities appear to be relevant to most robotic systems currently in development. Utilization of current testing capabilities with sensor-based vehicle drivers, or use of the procedures for terrain quantification from sensor data, would immediately apply some fifty years of historical knowledge to the development, refinement, and implementation of future robotic systems. Additionally, translation of sensor-collected terrain data into engineering terms would allow assessment of robotic performance a priori deployment of the actual system and ensure maximum system performance in the theater of operation.
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William E. Willoughby, William E. Willoughby, Randolph A. Jones, Randolph A. Jones, George L. Mason, George L. Mason, Sally A. Shoop, Sally A. Shoop, James H. Lever, James H. Lever, "Application of historical mobility testing to sensor-based robotic performance", Proc. SPIE 6230, Unmanned Systems Technology VIII, 62302B (9 May 2006); doi: 10.1117/12.666544; https://doi.org/10.1117/12.666544
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