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Proceedings Paper

Integrating intrinsic mobility into unmanned ground vehicle systems
Author(s): Chris A. Brosinsky; Steven G. Penzes; Martin G. Buehler; Carl Steeves
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Paper Abstract

The ability of an Unmanned Ground Vehicle (UGV) to successfully move about in its environment is enabled by the synergistic combination of perception, control and platform (mobility and utility). Vast effort is being expended on the former technologies but little demonstrable evidence has been produced to indicate that the latter (mobility/utility) has been considered as an integral part of the UGV systems level capability; a concept commonly referred to as intrinsic mobility. While past work described the rationale for hybrid locomotion, this paper aims to demonstrate that integrating intrinsic mobility into a UGV systems mobility element or 'vehicle' will be a key contributor to the magnitude of autonomy that the system can achieve. This paper serves to provide compelling evidence that 1) intrinsic mobility improvements provided by hybrid locomotion configurations offer the best generic mobility, that 2) strict attention must be placed on the optimization of both utility (inherent vehicle capabilities) and mobility and that 3) the establishment of measures of performance for unmanned vehicle mobility is an unmet and latent need.

Paper Details

Date Published: 20 September 2001
PDF: 9 pages
Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); doi: 10.1117/12.440005
Show Author Affiliations
Chris A. Brosinsky, Defence Research Establishment Suffield (Canada)
Steven G. Penzes, Defence Research Establishment Suffield (Canada)
Martin G. Buehler, McGill Univ. (Canada)
Carl Steeves, McGill Univ. (Canada)

Published in SPIE Proceedings Vol. 4364:
Unmanned Ground Vehicle Technology III
Grant R. Gerhart; Chuck M. Shoemaker, Editor(s)

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