Implementation of Standardized Vehicle Control Commands

Abstract

This paper describes the development and implementation of a standard message structure that is used to communicate desired vehicle motion to a mobile vehicle system. The objective was to develop a standardized message that would be applicable to a wide variety of vehicles such as steered-wheeled and tracked ground vehicles, fixed wing and rotary air vehicles, and underwater vehicles. The resulting technique uses a screw theory approach to define a propulsive wrench and a resistive wrench. These wrenches are used to command or direct in the most general terms how the vehicle is to move. The approach has been implemented on three different types of autonomous vehicles, i.e. a steered- wheeled vehicle, a tracked vehicle, and an omni-directional vehicle.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2000
Accession Number
ADA386349

Entities

People

  • C. Crane
  • D. Armstrong
  • D. Novick
  • J. Duffy
  • J. Witt

Organizations

  • Air Force Research Laboratory

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Air Force
  • Air Force Facilities
  • Air Force Research Laboratories
  • Autonomous Vehicles
  • Control Systems
  • Coordinate Systems
  • Government Procurement
  • Ground Vehicles
  • Military Research
  • Orientation (Direction)
  • Robotics
  • Standards
  • Teleoperation
  • Tracked Vehicles
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Vehicles

Readers

  • Joint Military Operations and Doctrine.
  • Robotics and Automation.
  • Software Verification and Validation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control