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Proceedings Paper

Articulated navigation testbed (ANT): an example of adaptable intrinsic mobility
Author(s): Chris A. Brosinsky; Doug M. Hanna; Steven G. Penzes
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Paper Abstract

An important but oft overlooked aspect of any robotic system is the synergistic benefit of designing the chassis to have high intrinsic mobility which complements rather than limits, its system capabilities. This novel concept continues to be investigated by the Defence Research Establishment Suffield (DRES) with the Articulated Navigation Testbed (ANT) Unmanned Ground Vehicle (UGV). The ANT demonstrates high mobility through the combination of articulated steering and a hybrid locomotion scheme which utilizes individually powered wheels on the edge of rigid legs; legs which are capable of approximately 450 degrees of rotation. The configuration can be minimally configured as a 4x4 and modularly expanded to 6x6, 8x8, and so on. This enhanced mobility configuration permits pose control and novel maneuvers such as stepping, bridging, crawling, etc. Resultant mobility improvements, particularly in unstructured and off-road environments, will reduce the resolution with which the UGV sensor systems must perceive its surroundings and decreases the computational requirements of the UGV's perception systems1 for successful semi-autonomous or autonomous terrain negotiation. This paper reviews critical vehicle developments leading up to the ANT concept, describes the basis for its configuration and speculates on the impact of the intrinsic mobility concept for UGV effectiveness.

Paper Details

Date Published: 10 July 2000
PDF: 10 pages
Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); doi: 10.1117/12.391618
Show Author Affiliations
Chris A. Brosinsky, Defence Research Establishment Suffield (Canada)
Doug M. Hanna, Defence Research Establishment Suffield (Canada)
Steven G. Penzes, Defence Research Establishment Suffield (Canada)


Published in SPIE Proceedings Vol. 4024:
Unmanned Ground Vehicle Technology II
Grant R. Gerhart; Robert W. Gunderson; Chuck M. Shoemaker, Editor(s)

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