Design and implementation of a teleautonomous hummer

Darrin C. Bentivegna; Kahled S. Ali; Ronald C. Arkin; Tucker Balch

doi:10.1117/12.299560

25 January 1998 Design and implementation of a teleautonomous hummer

Darrin C. Bentivegna, Kahled S. Ali, Ronald C. Arkin, Tucker Balch

Proceedings Volume 3210, Mobile Robots XII; (1998) https://doi.org/10.1117/12.299560
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

Autonomous and semi-autonomous full-sized ground vehicles are becoming increasingly important, particularly in military applications. Here we describe the instrumentation of one such vehicle, a 4-wheel drive Hummer, for autonomous robotic operation. Actuators for steering, brake, and throttle have been implemented on a commercially available Hummer. Control is provided by on-board and remote computation. On-board computation includes a PC-based control computer coupled to feedback sensors for he steering wheel, brake, and forward speed; and a Unix workstation for high-level control. A radio link connects the on- board computers to an operator's remote workstation running the Georgia Tech MissionLab system. The paper describes the design and implementation of this integrated hardware/software system that translates a remote human operator's commands into directed motion of the vehicle telerobotic control of the Hummer has been demonstrated in outdoor experiments.

Citation Download Citation

Darrin C. Bentivegna, Kahled S. Ali, Ronald C. Arkin, and Tucker Balch "Design and implementation of a teleautonomous hummer", Proc. SPIE 3210, Mobile Robots XII, (25 January 1998); https://doi.org/10.1117/12.299560

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