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Proceedings Paper

Constrained navigation for unmanned systems
Author(s): Laurent Vasseur; Philippe Gosset; Luc Carpentier; Vincent Marion; Joel G. Morillon; 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 "constrained navigation" study (named TEL2), which main goal is to identify and test a well-balanced task sharing between man and machine to accomplish a robotic task that cannot be performed autonomously at the moment because of technological limitations. The chosen function is "obstacle avoidance" on rough ground and quite high speed (40 km/h). State of the art algorithms have been implemented to perform autonomous obstacle avoidance and following of forest borders, using scanner laser sensor and standard localization functions. Such an "obstacle avoidance" function works well most of the time, BUT fails sometimes. The study analyzed how the remote operator can manage such failures so that the system remains fully operationally reliable; he can act according to two ways: a) finely adjust the vehicle current heading; b) take the control of the vehicle "on the fly" (without stopping) and bring it back to autonomous behavior when motion is secured again. The paper also presents the results got from the military acceptance tests performed on French 4x4 DARDS ATD.

Paper Details

Date Published: 27 May 2005
PDF: 13 pages
Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); doi: 10.1117/12.603939
Show Author Affiliations
Laurent Vasseur, Thales Land & Joint Systems (France)
Philippe Gosset, Thales Land & Joint Systems (France)
Luc Carpentier, Thales Land & Joint Systems (France)
Vincent Marion, Thales Land & Joint Systems (France)
Joel G. Morillon, 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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