25K Halvorsen Loader Automation Report
Final technical rept. 1 Dec 2011-31 Dec 2012
AIR FORCE RESEARCH LAB TYNDALL AFB FL MATERIALS AND MANUFACTURING DIRECTORATE
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The Air Force Research Laboratory Airbase Technologies Division AFRLRXQ researched robotic technologies to support flightline operations with the goal of improving the efficiency and safety in deployed locations. From February to October 2012, the Robotics Team designed and implemented a robotic control package for autonomous driving of the 25K Halvorsen Loader system. This project focused on robotic technologies for the cargo loader K-Loader systems that automate the transportation and handling of palletized cargo between the loading ramps and aircraft. This project was enabled by AFRLRXQs extensive repository of autonomous ground vehicle driving behaviors that were adapted to the K-Loader systems including waypoint driving, obstacle avoidance, traversability grid mapping, and dynamic path planning. On October 25th, AFRLRXQ conducted a successful demonstration of phase I of the Automated K-Loader system, which concluded the funded work for this effort.