25K Halvorsen Loader Automation Report

reportActive / Technical Report | Accession Number: ADA576962 | Open PDF

Abstract:

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.

Author(s):
Nieto, Eduardo
Author Organization(s):
AIR FORCE RESEARCH LAB TYNDALL AFB FL MATERIALS AND MANUFACTURING DIRECTORATE
Descriptive Note:
Final technical rept. 1 Dec 2011-31 Dec 2012
Supplementary Note:
DOI: 10.21236/ADA576962
Pagination:
0046

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release
Distribution Statement:
Approved For Public Release; Distribution Is Unlimited.

RECORD

Collection: TR
Identifying Numbers
Report Number(s):
AFRL-RX-TY-TR-2012-0085
Contract/Grant Number(s):
FA4819-09-C-0044
Task Number(s):
F0
Project Number(s):
GOVT
Monitor Series:
AFRL-RX-TY
 Subject Terms
Joint Capability Areas:
JCA_5_Command and Control; JCA_4.7.2_Installation Services; JCA_4.7_Base and Installations Support; JCA_4.1_Deployment and Distribution; JCA_4_Logistics; JCA_5.3_Planning; JCA_5.5.2_Task; JCA_5.5_Direct; JCA_5.2.3_Share Knowledge and Situational Awareness; JCA_5.2_Understand; JCA_5.3.2_Apply Situational Understanding; JCA_1.2.2_Exercising
Modernization Areas:
Autonomy; Microelectronics; Space
Communities of Interest:
Autonomy
Descriptor(s):
*LOADERS, *LOADING(HANDLING), *ROBOTICS, DEMONSTRATIONS, EFFICIENCY, GROUND VEHICLES, RAMPS, SAFETY, SELF OPERATION
Field(s)/Group(s):
Cybernetics
Keyword(s):
PE0909999F, WUAFRLGOVTF0X0DA, WUQF503031
Report Date:
2013 Jan 02
Creation Date:
2013 Jun 10