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23 May 2011 Driver assist behaviors for high-speed small UGVs
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Abstract
Currently deployed small UGVs operate at speeds up to around 6 mph and have proven their usefulness in explosives ordnance disposal (EOD) missions. As part of the TARDEC-funded Stingray Project, iRobot is investigating techniques to increase the speed of small UGVs so they can be useful in a wider range of missions, such as high-speed reconnaissance and infantry assault missions. We have developed a prototype Stingray PackBot, using wheels rather than tracks, that is capable of traveling at speeds up to 18 mph. A key issue when traveling at such speeds is how to maintain stability during sharp turns and over rough terrain. We are developing driver assist behaviors that will provide dynamic stability control for high-speed small UGVs using techniques such as dynamic weight shifting to limit oversteer and understeer. These driver assist behaviors will enable operators to use future high-speed small UGVs in high optempo infantry missions and keep warfighters out of harm's way.
© (2011) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Brian Yamauchi "Driver assist behaviors for high-speed small UGVs", Proc. SPIE 8045, Unmanned Systems Technology XIII, 80450J (23 May 2011); https://doi.org/10.1117/12.884532
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