Accession Number:

AD1034694

Title:

Automation of Armored Four Wheel Counter Steer Vehicles

Descriptive Note:

Journal Article

Corporate Author:

MIT Lincoln Laboratory Lexington United States

Report Date:

2015-08-28

Pagination or Media Count:

20.0

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.

Subject Categories:

  • Cybernetics
  • Combat Vehicles
  • Active and Passive Radar Detection and Equipment

Distribution Statement:

APPROVED FOR PUBLIC RELEASE