Robotic Mounted Detection System: robotics for route clearance

John Hutchison; Gene Klager; Edward McCoy; David Fite; Brian Frederick

doi:10.1117/12.852447

7 May 2010 Robotic Mounted Detection System: robotics for route clearance

John Hutchison, Gene Klager, Edward McCoy, David Fite, Brian Frederick

Proceedings Volume 7692, Unmanned Systems Technology XII; 76921G (2010) https://doi.org/10.1117/12.852447
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

Robotic Mounted Detection System (RMDS) is a government program to enable robotic control of a Husky route clearance vehicle with a mine detection sensor payload. The goal is for the operator to control the Husky and mine detection sensor from another vehicle. This program will provide the user with standard tele-operation control of the vehicle as well as semi-autonomous modes including cruise control, precision waypoint navigation with operator error correction and a visual mode allowing the operator to enter waypoints in the current video feed. The use of autonomy will be tailored to give the operator maximum control of the robotic vehicle's path while minimizing the effort required to maintain the desired route. Autonomous alterations of the path would conflict with the goal of route clearance, so waypoint navigation will allow the operator to supply offsets to counteract location errors. While following a waypoint path, the Husky will be capable of controlling its speed to maintain an operator specified distance from the control vehicle. Obstacle avoidance will be limited to protecting the mine detection sensor, leaving any decision to leave the path up to the operator. Video will be the primary navigational sensor feed to the operator, who will use an augmented steering wheel controller and computer display to control the Husky. A LADAR system will be used to detect obstacles that could damage the mine sensor and to maintain the optimal sensor orientation while the vehicle is moving. Practical issues and lessons learned during integration will be presented.

Citation Download Citation

John Hutchison, Gene Klager, Edward McCoy, David Fite, and Brian Frederick "Robotic Mounted Detection System: robotics for route clearance", Proc. SPIE 7692, Unmanned Systems Technology XII, 76921G (7 May 2010); https://doi.org/10.1117/12.852447

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KEYWORDS

Sensors

Robotics

Land mines

Video

Control systems

Robotic systems

Vehicle control

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