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Proceedings Paper

Development of an extendable arm and software architecture for autonomous and tele-operated control for mobile platforms
Author(s): Yung-Sen Li; Shawn Hunt; Cosmin Popovici; Steven Walter; Gary Witus; R. Darin Ellis; Gregory Auner; Alex Cao; Abhilash Pandya
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Paper Abstract

There is a strong demand for efficient explosive detecting devices and deployment methods in the field. In this study we present a prototype mast that uses a telescoping pulley system for optimal performance on top of an unmanned ground vehicle to be able to be controlled wirelessly. The mast and payload reaches up eight feet from the platform with a gripper that can pick up objects. The current mobile platform operators using a remote-control devices to move the arm and the robot itself from a safe distance away. It is equipped with a pulley system that can also be used to extend a camera or explosive detection sensor under a vehicle. The mast is outfitted with sensors. The simple master-slave strategy will not be sufficient as the navigation and sensory inputs will become complex. In this paper we provide a tested software/hardware framework that allows a mobile platform and the expanded arm to offload operator tasks to autonomous behaviors while maintaining tele-operations. This will implement semi-autonomous behaviors. This architecture involves a server which communicates commands and receives sensor inputs via a wireless modem to the mobile platform. This server can take requests from multiple client processes which have prioritized access to on-board sensor readings and can command the steering. The clients would include the tele-operation soldier unit, and any number of other autonomous behaviors linked to particular sensor information or triggered by the operator. For instance, the behavior of certain tasks can be controlled by low-latency clients with sensory information to prevent collisions, place sensor pods precisely, return to preplanned positions, home the units location or even perform image enhancements or object recognition on streamed video.

Paper Details

Date Published: 16 April 2008
PDF: 8 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 69621U (16 April 2008); doi: 10.1117/12.778059
Show Author Affiliations
Yung-Sen Li, Wayne State Univ. (United States)
Shawn Hunt, Turing Associates, Inc. (United States)
Cosmin Popovici, Wayne State Univ. (United States)
Steven Walter, Wayne State Univ. (United States)
Gary Witus, Turing Associates, Inc. (United States)
R. Darin Ellis, Wayne State Univ. (United States)
Gregory Auner, Wayne State Univ. (United States)
Alex Cao, Wayne State Univ. (United States)
Abhilash Pandya, Wayne State Univ. (United States)

Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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