16 April 2008 Development of an extendable arm and software architecture for autonomous and tele-operated control for mobile platforms
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There is a strong demand for efficient explosive detecting devices and deployment methods in the field. In this study we present a prototype mast that uses a telescoping pulley system for optimal performance on top of an unmanned ground vehicle to be able to be controlled wirelessly. The mast and payload reaches up eight feet from the platform with a gripper that can pick up objects. The current mobile platform operators using a remote-control devices to move the arm and the robot itself from a safe distance away. It is equipped with a pulley system that can also be used to extend a camera or explosive detection sensor under a vehicle. The mast is outfitted with sensors. The simple master-slave strategy will not be sufficient as the navigation and sensory inputs will become complex. In this paper we provide a tested software/hardware framework that allows a mobile platform and the expanded arm to offload operator tasks to autonomous behaviors while maintaining tele-operations. This will implement semi-autonomous behaviors. This architecture involves a server which communicates commands and receives sensor inputs via a wireless modem to the mobile platform. This server can take requests from multiple client processes which have prioritized access to on-board sensor readings and can command the steering. The clients would include the tele-operation soldier unit, and any number of other autonomous behaviors linked to particular sensor information or triggered by the operator. For instance, the behavior of certain tasks can be controlled by low-latency clients with sensory information to prevent collisions, place sensor pods precisely, return to preplanned positions, home the units location or even perform image enhancements or object recognition on streamed video.
© (2008) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Yung-Sen Li, Yung-Sen Li, Shawn Hunt, Shawn Hunt, Cosmin Popovici, Cosmin Popovici, Steven Walter, Steven Walter, Gary Witus, Gary Witus, R. Darin Ellis, R. Darin Ellis, Gregory Auner, Gregory Auner, Alex Cao, Alex Cao, Abhilash Pandya, Abhilash Pandya, "Development of an extendable arm and software architecture for autonomous and tele-operated control for mobile platforms", Proc. SPIE 6962, Unmanned Systems Technology X, 69621U (16 April 2008); doi: 10.1117/12.778059; https://doi.org/10.1117/12.778059


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