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Proceedings Paper

Design of an agile unmanned combat vehicle: a product of the DARPA UGCV program
Author(s): Lindsey D. Thornhill; Alan Walls; Ronald C. Arkin; Joseph H. Beno; Chuck Bergh; Don Bresie; Anthony Giovannetti; Benny M. Gothard; Larry Henry Matthies; Porfirio Nogueiro; Jim Scanlon; Ron Scott; Miguel Simon; Wilford Smith; Kenneth J. Waldron
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Paper Abstract

The unmanned ground compat vehicle (UGCV) design evolved by the SAIC team on the DARPA UGCV Program is summarized in this paper. This UGCV design provides exceptional performance against all of the program metrics and incorporates key attributes essential for high performance robotic combat vehicles. This performance includes protection against 7.62 mm threats, C130 and CH47 transportability, and the ability to accept several relevant weapons payloads, as well as advanced sensors and perception algorithms evolving from the PerceptOR program. The UGCV design incorporates a combination of technologies and design features, carefully selected through detailed trade studies, which provide optimum performance against mobility, payload, and endurance goals without sacrificing transportability, survivability, or life cycle cost. The design was optimized to maximize performance against all Category I metrics. In each case, the performance of this design was validated with detailed simulations, indicating that the vehicle exceeded the Category I metrics. Mobility metrics were analyzed using high fidelity VisualNastran vehicle models, which incorporate the suspension control algorithms and controller cycle times. DADS/Easy 5 3-D models and ADAMS simulations were also used to validate vehicle dynamics and control algorithms during obstacle negotiation.

Paper Details

Date Published: 30 September 2003
PDF: 13 pages
Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.497847
Show Author Affiliations
Lindsey D. Thornhill, Science Applications International Corp. (United States)
Alan Walls, Science Applications International Corp. (United States)
Ronald C. Arkin, Georgia Institute of Technology (United States)
Joseph H. Beno, Univ. of Texas at Austin (United States)
Chuck Bergh, Jet Propulsion Lab. (United States)
Don Bresie, Univ. of Texas at Austin (United States)
Anthony Giovannetti, United Defense (United States)
Benny M. Gothard, Science Applications International Corp. (United States)
Larry Henry Matthies, Jet Propulsion Lab. (United States)
Porfirio Nogueiro, United Defense, L.P. (United States)
Jim Scanlon, Science Applications International Corp. (United States)
Ron Scott, Science Applications International Corp. (United States)
Miguel Simon, Science Applications International Corp. (United States)
Wilford Smith, Science Applications International Corp. (United States)
Kenneth J. Waldron, Stanford Univ. (United States)


Published in SPIE Proceedings Vol. 5083:
Unmanned Ground Vehicle Technology V
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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