DEMONSTRATION OF RETRO-TRAVERSE USING A SEMI-AUTONOMOUS LAND VEHICLE

A Jeep Cherokee has been modified by Sandia National Laboratoies to allow remote control either by teleoperation or through computer generated commands (autonomy). This vehicle has been used for development of hardware and software and in the demonstration of concepts for computer augmentation of remote controlled vehicles. As part of this activity, a system has been configured which allows an operator to teleoperate the vehicle from one location (home base) to another (destination). At the completion of teleoperation, the operator can instruct the vehicle to return to the starting position. The vehicle then autonomously performs a retro-transverse, reversing the path by which it reached its desination. During teleoperation, operator commands are given through an operator control interface consisting of a steering wheel, brake and throttle pedals, and a video display. Commands are transmitted to the vehicle and video returned from the vehicle over RF communication links. Periodic way points are automatically recorded for later use by the vehicle system. Navigation duing retro-traverse utilizes dead-reckoning inputs from an odometer, compass and steering angle potentiometer. Way points (previously identified during teleoperation of the vehicle) are linked by short, straight line segments. Along each path segment, the control system generates the steering and speed commands necessary to direct the vehicle towards the next way point. Retro-traverse has been demonstrated over open terrain at Sandia National Laboratories. Path following accuracy and final positional control is a function of dead-reckoning system limitations and control system design. These limitations are discussed, and an improved system is proposed.

• Corporate Authors:

  Sandia National Laboratories

  P.O. Box 5800
  Albuquerque, NM  United States  87185
• Authors:
  • Mcgovern, D E
  • KLARER, P R
  • JONES, D P
• Publication Date: 1988

Media Info

• Pagination: 13 p.

Subject/Index Terms

• TRT Terms: Demonstration projects; Four wheel drive; Information processing; Remote control; Retrofitting
• Identifier Terms: Jeep automobile
• Old TRIS Terms: Jeeps
• Subject Areas: Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 00480484
• Record Type: Publication
• Source Agency: National Technical Information Service
• Report/Paper Numbers: SAND-88-1222C, CONF-8806118-1
• Files: TRIS
• Created Date: Mar 31 1989 12:00AM