Accession Number : AD1034694


Title :   Automation of Armored Four Wheel Counter Steer Vehicles


Descriptive Note : Journal Article


Corporate Author : MIT Lincoln Laboratory Lexington United States


Personal Author(s) : Stanley,Byron M ; Froehlich,Edward M ; Koechling,Jeffrey C ; Cornick,Matthew T


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/1034694.pdf


Report Date : 28 Aug 2015


Pagination or Media Count : 20


Abstract : Lincoln Laboratory automated four Husky Mark III mine-detection vehicles, the worlds first autonomous vehicles to steer using a novel localizing ground-penetrating radar (LGPR). At nine tons, these autonomous vehicles are some of the largest to be put into combat operations to date. The vehicle is guided by a novel derivation of the pure pursuit steering algorithm adapted to a proportional four-wheel-counter-steer system. Localization data provided by the LGPR is centered on the forward mounted array. The autopilot system was designed and implemented with an operator ease-of-use approach, allowing the simple transition between manual control and autonomous operation.


Descriptors :   autonomous vehicles , Armored vehicles , Mine detection , GROUND PENETRATING RADAR , STEERING , Autonomous navigation , artificial intelligence , SIMULTANEOUS LOCALIZATION AND MAPPING


Subject Categories : Cybernetics
      Combat Vehicles
      Active & Passive Radar Detection & Equipment


Distribution Statement : APPROVED FOR PUBLIC RELEASE