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Proceedings Paper

Design and implementation of a teleautonomous hummer
Author(s): Darrin C. Bentivegna; Kahled S. Ali; Ronald C. Arkin; Tucker Balch
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Paper Abstract

Autonomous and semi-autonomous full-sized ground vehicles are becoming increasingly important, particularly in military applications. Here we describe the instrumentation of one such vehicle, a 4-wheel drive Hummer, for autonomous robotic operation. Actuators for steering, brake, and throttle have been implemented on a commercially available Hummer. Control is provided by on-board and remote computation. On-board computation includes a PC-based control computer coupled to feedback sensors for he steering wheel, brake, and forward speed; and a Unix workstation for high-level control. A radio link connects the on- board computers to an operator's remote workstation running the Georgia Tech MissionLab system. The paper describes the design and implementation of this integrated hardware/software system that translates a remote human operator's commands into directed motion of the vehicle telerobotic control of the Hummer has been demonstrated in outdoor experiments.

Paper Details

Date Published: 25 January 1998
PDF: 9 pages
Proc. SPIE 3210, Mobile Robots XII, (25 January 1998); doi: 10.1117/12.299560
Show Author Affiliations
Darrin C. Bentivegna, Georgia Institute of Technology (United States)
Kahled S. Ali, Georgia Institute of Technology (United States)
Ronald C. Arkin, Georgia Institute of Technology (United States)
Tucker Balch, Georgia Institute of Technology (United States)


Published in SPIE Proceedings Vol. 3210:
Mobile Robots XII
Douglas W. Gage, Editor(s)

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