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NDIA Intelligent Vehicle Systems Symposium June 12, 2003

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

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NDIA Intelligent Vehicle Systems Symposium June 12, 2003

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  1. Robotic Follower Experimentation Results JEFFREY J. JACZKOWSKI Team Leader (586) 574-8674 / DSN 786-8674 Fax (586) 574-8684 Email: jaczkoje@tacom.army.mil 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

  2. 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:

  3. 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.

  4. 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.

  5. 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

  6. Leader-Follower Interface Unique requirements for mounted and dismounted leader interface

  7. Dismounted Interface GPS Antenna DRM iPaQ

  8. 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

  9. Summary of Test Trials

  10. 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

  11. 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

  12. Test Results Time Delay with Obstacles

  13. 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

  14. 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

  15. 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

  16. 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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