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Proceedings Paper

Stability control for high speed tracked unmanned vehicles
Author(s): Olivier Pape; Joel G. Morillon; Philippe Houbloup; Stephane Leveque; Cecile Fialaire; Thierry Gauthier; Patrice Ropars
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Paper Abstract

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "automatic speed adjustment" behavior (named SYR4), developed by Giat Industries Company, which main goal is to secure the teleoperated mobility of high speed tracked vehicles on rough grounds; more precisely, the validated low level behavior continuously adjusts the vehicle speed taking into account the teleperator wish AND the maximum speed that the vehicle can manage safely according to the commanded radius of curvature. The algorithm is based on a realistic physical model of the ground-tracks relation, taking into account many vehicle and ground parameters (such as ground adherence and dynamic specificities of tracked vehicles). It also deals with the teleoperator-machine interface, providing a balanced strategy between both extreme behaviors: a) maximum speed reduction before initiating the commanded curve; b) executing the minimum possible radius without decreasing the commanded speed. The paper presents the results got from the military acceptance tests performed on tracked SYRANO vehicle (French Operational Demonstrator).

Paper Details

Date Published: 27 May 2005
PDF: 9 pages
Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); doi: 10.1117/12.603743
Show Author Affiliations
Olivier Pape, Giat Industries (France)
Joel G. Morillon, Thales Land & Joint Systems (France)
Philippe Houbloup, Giat Industries (France)
Stephane Leveque, Giat Industries (France)
Cecile Fialaire, Thales Land & Joint Systems (France)
Thierry Gauthier, Thales Land & Joint Systems (France)
Patrice Ropars, DGA/SPART (France)


Published in SPIE Proceedings Vol. 5804:
Unmanned Ground Vehicle Technology VII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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