AUTOMATION OF ARMORED FOUR - WHEEL - COUNTER - STEER VEHICLES System Design
نویسندگان
چکیده
115 Lincoln Laboratory automated four Husky Mark III mine-detection vehicles, the world’s first autonomous vehicles to steer using a novel localizing ground-penetrating radar. At nine tons, these autonomous vehicles are some of the largest to be put into combat operations to date. The vehicle is guided by a novel derivation of the pure pursuit steering algorithm adapted to a proportional four-wheel-counter-steer system. Localization data provided by the radar is centered on the forward mounted array. The autopilot system was designed and implemented with an operator ease-of-use approach, allowing the simple transition between manual control and autonomous operation. Automation of Armored Four-Wheel-CounterSteer Vehicles
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