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 :

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