Integrating intrinsic mobility into unmanned ground vehicle systems

Chris A. Brosinsky; Steven G. Penzes; Martin G. Buehler; Carl Steeves

doi:10.1117/12.440005

20 September 2001 Integrating intrinsic mobility into unmanned ground vehicle systems

Chris A. Brosinsky, Steven G. Penzes, Martin G. Buehler, Carl Steeves

Proceedings Volume 4364, Unmanned Ground Vehicle Technology III; (2001) https://doi.org/10.1117/12.440005
Event: Aerospace/Defense Sensing, Simulation, and Controls, 2001, Orlando, FL, United States

Abstract

The ability of an Unmanned Ground Vehicle (UGV) to successfully move about in its environment is enabled by the synergistic combination of perception, control and platform (mobility and utility). Vast effort is being expended on the former technologies but little demonstrable evidence has been produced to indicate that the latter (mobility/utility) has been considered as an integral part of the UGV systems level capability; a concept commonly referred to as intrinsic mobility. While past work described the rationale for hybrid locomotion, this paper aims to demonstrate that integrating intrinsic mobility into a UGV systems mobility element or 'vehicle' will be a key contributor to the magnitude of autonomy that the system can achieve. This paper serves to provide compelling evidence that 1) intrinsic mobility improvements provided by hybrid locomotion configurations offer the best generic mobility, that 2) strict attention must be placed on the optimization of both utility (inherent vehicle capabilities) and mobility and that 3) the establishment of measures of performance for unmanned vehicle mobility is an unmet and latent need.

Citation Download Citation

Chris A. Brosinsky, Steven G. Penzes, Martin G. Buehler, and Carl Steeves "Integrating intrinsic mobility into unmanned ground vehicle systems", Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); https://doi.org/10.1117/12.440005

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