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Proceedings Paper

Ten-kilogram vehicle autonomous operations
Author(s): John R. Rogers; Christopher Korpela; Kevin Quigley
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Paper Abstract

A low-cost unmanned ground vehicle designed to benchmark high-speed performance is presented. The E-Maxx four-wheel-drive radio-controlled vehicle equipped with a Robostix controller is proposed as a low-cost, high-speed robotic platform useful for military operations. The vehicle weighs less than ten kilograms making it easily portable by one person. Keeping cost low is a major consideration in the design with the aim of providing a disposable military robot. The suitability of the platform was evaluated and results are presented. Commercial-Off-The-Shelf (COTS) upgrades to the basic vehicle are recommended for durability. A procedure was established for bird's-eye-view video recording to document vehicle dynamics. Driver/vehicle performance is quantified by entry velocity, exit velocity and total time through a 90° turn on low-friction terrain. A setup for measuring these values is presented. Expert drivers use controlled skidding to minimize time through turns and the long term goal of the project is to automate such expert behaviors. Results of vehicle performance under human control are presented and stand as a reference for future autonomy.

Paper Details

Date Published: 30 April 2009
PDF: 8 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 73321X (30 April 2009); doi: 10.1117/12.818199
Show Author Affiliations
John R. Rogers, U.S. Military Academy (United States)
Christopher Korpela, U.S. Military Academy (United States)
Kevin Quigley, U.S. Military Academy (United States)

Published in SPIE Proceedings Vol. 7332:
Unmanned Systems Technology XI
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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