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Proceedings Paper

Behavior-based tactical navigational and mobility control of tandem ground robotic vehicles
Author(s): Amir Shirkhodaie; Richard C. Goetz; Abhijit Patkar; Mohammad Masour; Samual Aderogba; Naveen Avalareddy
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Paper Abstract

In this paper, we have addressed some of technical challenges associated with tactical behaviors modeling of a group of Tandem Mobile Robotic Vehicles (TMRV) in unstructured environment. We have discussed intelligent schemes for robust maneuverability control of the TMRV under a Supervisory Mobility Controller. We have considered four tasks of TMRV including: Terrain Navigation, Tandem Mobility Control; Tactical Strategic Formation and Communication-based Control. We have developed a supervisory mobility controller environmnet using FMCell software with six functional control loop. In this paper, we present and discuss modular and functional architecture of our supervisory mobility controller, in particular, our strategies for separation of supervisory functions according to their complexity, priority, and intelligence requirements. Some examples demonstrating effectiveness and efficiency of the newly developed techniques are presented. We have also discussed how these behaviors can be applied to tandem unmanned ground vehicle systems.

Paper Details

Date Published: 10 July 2000
PDF: 11 pages
Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); doi: 10.1117/12.391648
Show Author Affiliations
Amir Shirkhodaie, Tennessee State Univ. (United States)
Richard C. Goetz, U.S. Army Tank-Automotive and Armaments Command (United States)
Abhijit Patkar, Tennessee State Univ. (United States)
Mohammad Masour, Tennessee State Univ. (United States)
Samual Aderogba, Tennessee State Univ. (United States)
Naveen Avalareddy, Tennessee State Univ. (United States)


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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