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NDIA Intelligent Vehicle Systems Symposium June 12, 2003

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Robotic Follower Experimentation Results. JEFFREY J. JACZKOWSKI. Team Leader. (586) 574-8674 / DSN 786-8674. Fax (586) 574-8684. Email: [email protected] VETRONICS Technology Area. U.S. Army Tank-Automotive RD&E Center (TARDEC).

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Presentation Transcript
slide1

Robotic Follower

Experimentation Results

JEFFREY J. JACZKOWSKI

Team Leader

(586) 574-8674 / DSN 786-8674

Fax (586) 574-8684

Email: [email protected]

VETRONICS Technology Area

U.S. Army Tank-Automotive RD&E Center (TARDEC)

Vetronics Technology Area (AMSTA-TR-R, Mailstop 264)

Warren, MI 48397-5000

NDIA Intelligent Vehicle Systems Symposium

June 12, 2003

vetronics technology integration effort

Mature & demonstrate robotics technology required for early insertion into Future Combat Systems

Embedded

Semiautonomous

Intelligent

Decision Aids

Simulation

Perception

Situational Behavior

Soldier-Machine

Electronics

Soldier-Robot

Leader-Follower

Interface

Architecture

Interface

Technology

Vetronics Technology Integration Effort

Crew integration & Automation Testbed

(CAT) ATD

Robotic Follower ATD

Two-crew

Decision Aids

multi-role

FCS Crewstations

Advanced

Electronic

Architecture

Ruck

Carrier

Supply Platoon

MANPRINT

Embedded

Advanced

Simulation

Interfaces

Rear Security

NLOS/BLOS Fire

Demonstrate the crew interfaces, automation, and integration technologies required to operate and support Future Combat Systems

Pacing Technologies:

Pacing Technologies:

robotic follower atd objectives
Robotic Follower ATD Objectives
  • Develop, integrate and demonstrate the technologies required to achieve unmanned follower capabilities for future land combat vehicles.
  • Key RF Requirements
    • Dismounted or Mounted Following.
    • Semi-autonomous perception.
    • Significant separation times and distances.
    • Map data and sensor terrain feature registration.
    • Road detection
    • On-coming traffic detection.
robotic follower approach
Robotic Follower Approach
  • H/W & S/W design based on Demo III
  • Complement GPS waypoints with high resolution terrain data from the CAT’s onboard sensors.
  • Sensor terrain data will be registered to coarser onboard DTED map using advanced map registration techniques.
  • Apply on-road enhancements from DoT.
robotic follower chassis
Robotic Follower - Chassis
  • Stryker representative of FCS mounted systems
  • XUV representative of FCS mule system

Autonomous Mobility Sensor Suite

- Laser Scanner - Stereo Color Cameras

- Stereo FLIR - MMW Radar

slide6

Leader-Follower Interface

Unique requirements for mounted and dismounted leader interface

dismounted interface
Dismounted Interface

GPS Antenna

DRM

iPaQ

slide8

RF TRL Milestone Chart

  • TRL= 6
  • Road Following and Collision Detection (Pedestrian & Vehicles)
  • METRIC Lane maintenance
  • Lateral error 0.1 m max
  • Collision avoidance 100%
  • TRL= 6
  • Improve Obstacle Detection Algorithms
  • METRIC
  • Obstacle Detection
  • Positive .3 m (H)
  • Negative .5 m (W)

TRL= 6

Improve Obstacle Detection Algorithms; subset of Demo III Sensor Suite.

METRIC Obstacle Detection

Positive .3 m (H)

Negative .5 m (W)

  • TRL= 3
  • Demo III Baseline Perception
  • METRIC
  • Obstacle Detection
  • Positive .5 m (H)
  • Negative 1 m (W)
  • TRL= 6
  • Incorporate onboard terrain database
  • METRIC
  • Planning Capabilities - Plan around 10 m W obstacles using onboard database
  • 1 Operator Intervention/km
  • TRL= 6
  • Intelligent Situational Behavior
  • METRIC
  • Planning Capabilities - Plan to prevent communication loss or mobility kill.
  • 1 Operator Intervention/km
  • TRL= 6
  • Incorporate onboard terrain database
  • METRIC
  • Limited planning capability since LOS operation only
  • 1 Operator Intervention/km
  • TRL= 3
  • Demo III Baseline Intelligence
  • METRIC
  • Planning Capabilities - Plan around 5 m W obstacles using onboard perception only
  • 6 Operator Interventions/km
  • TRL= 6
  • Dismounted controller
  • METRIC
  • Workload/vehicle - 50% Reduction over Demo III
  • TRL= 6
  • Vehicle Interface Testing
  • METRIC
  • Workload/vehicle - 50% Reduction over Demo III
  • TRL= 6
  • CAT Interface Testing
  • METRIC
  • Workload/vehicle - 50% Reduction over Demo III
  • TRL= 6
  • On-road LOS convoying
  • METRIC
  • Speed
  • On road 65 kph
  • X-Country N/A
  • Separation 20 - 100 m
  • TRL= 6
  • Improved Mobility Follower
  • Waypoints Augmented with Terrain Intelligent Navigation
  • METRIC
  • Speed
  • On road 65 kph
  • X-Country 40 kph
  • Separation 5 km
  • TRL= 6
  • Dismounted follower using waypoints augmented with terrain intelligent navigation
  • METRIC
  • Speed
  • On road 0-20 kph
  • X-Country 0-20 kph
  • Separation 5 m - 1 km
  • TRL= 3
  • XUV Follower Demo w/GPS Waypoints
  • METRIC
  • Speed
  • On road 30 kph
  • X-Country 15 kph
  • Separation 500 m

FY01 FY02 FY03 FY04 FY05 FY06

Semi-

autonomous

Perception

Soldier-

Robot

Interface

Intelligent

Situational

Behavior

Leader-

Follower

Technology

slide10

Test Results On-road Vehicle Following

Data from following test

Vehicle Following on Primary Road; 16km loop; 40 kph speed; 50 m separation distance; 15.9 km total distance; 0 min delay

Facts about charts

1. Red line is the Leader, Blue Line the Follower

2. All values are in meters

3. First Graph the entire 16 km course, Second Graph a 1000x160 m (x axis, y axis) zoomed in view, Third Graph a 84x12 m zoomed in view.

4. For the two zoomed in views concerning the y axis: 2nd graph dashes on y axis represent approximately 20 meters, for 3rd graph dashes represent 1.8 meters. For x axis dashes on 2nd graph represent 100m , for third 14 m

Max following displacement is 0.45 m in this segment of data

slide11

Test Results Cross-Country Vehicle Following

1

Data from following test

Vehicle Following on Cross-Country; 20 kph speed; 50 m separation distance; 3 km total distance;

Facts about charts

1. Red line is the Leader, Blue Line the Follower

2. All values are in meters

3. First Graph the entire 3 km course, Second Graph a 1000x500 m (x axis, y axis) zoomed in view, Third Graph a 100x160 m zoomed in view.

4. For the two zoomed in views concerning the x axis: For the 2nd graph dashes on x axis represent 100 meters, for 3rd graph dashes represent 14 meters. y axis is self explanatory

2

3

Max following displacement is 7m in this segment of data

slide13

Test Results Multi-Vehicle Convoying

CAT-RF-XUV

Total Distance: 6.3 kilometers CAT/RF Sep: 120 meters

Average Speed: 22 kph RF/XUV Sep: 122 meters

slide14

Test Results Lane Following

Single Dashed Lane Double Yellow

Total Distance: 6.7 kilometers Total Distance: 7.3 kilometers

Avg. Error: 0.2 meters Avg. Error: 0.6 meters

slide15

Test Results Dismount Following

20 meter separation

Total Distance: 1459 meters Avg. Speed: 1.3 meters/second

Max Path Deviation: 3.0 meters Avg. Separation: 28 meters

slide16

Test Results

Dismount Delayed Path Following

Total Distance: 1429 meters Avg. Speed: 1.2 meters/second

Max Path Deviation: 3.6 meters Time to complete: 19.9 minutes

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