Design and implementation of a teleautonomous hummer

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

doi:10.1117/12.299560

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25 January 1998 Design and implementation of a teleautonomous hummer

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

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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.

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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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