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Proceedings Paper

A Segway RMP-based robotic transport system
Author(s): Hoa G. Nguyen; Greg Kogut; Ripan Barua; Aaron Burmeister; Narek Pezeshkian; Darren Powell; Nathan Farrington; Matt Wimmer; Brett Cicchetto; Chana Heng; Velia Ramirez
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Paper Abstract

In the area of logistics, there currently is a capability gap between the one-ton Army robotic Multifunction Utility/Logistics and Equipment (MULE) vehicle and a soldier’s backpack. The Unmanned Systems Branch at Space and Naval Warfare Systems Center (SPAWAR Systems Center, or SSC), San Diego, with the assistance of a group of interns from nearby High Tech High School, has demonstrated enabling technologies for a solution that fills this gap. A small robotic transport system has been developed based on the Segway Robotic Mobility Platform (RMP). We have demonstrated teleoperated control of this robotic transport system, and conducted two demonstrations of autonomous behaviors. Both demonstrations involved a robotic transporter following a human leader. In the first demonstration, the transporter used a vision system running a continuously adaptive mean-shift filter to track and follow a human. In the second demonstration, the separation between leader and follower was significantly increased using Global Positioning System (GPS) information. The track of the human leader, with a GPS unit in his backpack, was sent wirelessly to the transporter, also equipped with a GPS unit. The robotic transporter traced the path of the human leader by following these GPS breadcrumbs. We have additionally demonstrated a robotic medical patient transport capability by using the Segway RMP to power a mock-up of the Life Support for Trauma and Transport (LSTAT) patient care platform, on a standard NATO litter carrier. This paper describes the development of our demonstration robotic transport system and the various experiments conducted.

Paper Details

Date Published: 29 December 2004
PDF: 12 pages
Proc. SPIE 5609, Mobile Robots XVII, (29 December 2004); doi: 10.1117/12.573805
Show Author Affiliations
Hoa G. Nguyen, Space and Naval Warfare Systems Ctr. (United States)
Greg Kogut, Space and Naval Warfare Systems Ctr. (United States)
Ripan Barua, Space and Naval Warfare Systems Ctr. (United States)
Aaron Burmeister, Space and Naval Warfare Systems Ctr. (United States)
Narek Pezeshkian, Space and Naval Warfare Systems Ctr. (United States)
Darren Powell, Space and Naval Warfare Systems Ctr. (United States)
Nathan Farrington, Space and Naval Warfare Systems Ctr. (United States)
Matt Wimmer, High Tech High School (United States)
Brett Cicchetto, High Tech High School (United States)
Chana Heng, High Tech High School (United States)
Velia Ramirez, High Tech High School (United States)


Published in SPIE Proceedings Vol. 5609:
Mobile Robots XVII
Douglas W. Gage, Editor(s)

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