Automation of Armored Four Wheel Counter Steer Vehicles
Abstract
Lincoln Laboratory automated four Husky Mark III mine-detection vehicles, the worlds first autonomous vehicles to steer using a novel localizing ground-penetrating radar (LGPR). 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 LGPR 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.
Document Details
- Document Type
- Technical Report
- Publication Date
- Aug 28, 2015
- Accession Number
- AD1034694
Entities
People
- Byron M. Stanley
- Edward M Froehlich
- Jeffrey C. Koechling
- Matthew T. Cornick
Organizations
- MIT Lincoln Laboratory