Behavior-based tactical navigational and mobility control of tandem ground robotic vehicles

Amir Shirkhodaie; Richard C. Goetz; Abhijit Patkar; Mohammad Masour; Samual Aderogba; Naveen Avalareddy

doi:10.1117/12.391648

10 July 2000 Behavior-based tactical navigational and mobility control of tandem ground robotic vehicles

Amir Shirkhodaie, Richard C. Goetz, Abhijit Patkar, Mohammad Masour, Samual Aderogba, Naveen Avalareddy

Proceedings Volume 4024, Unmanned Ground Vehicle Technology II; (2000) https://doi.org/10.1117/12.391648
Event: AeroSense 2000, 2000, Orlando, FL, United States

Abstract

In this paper, we have addressed some of technical challenges associated with tactical behaviors modeling of a group of Tandem Mobile Robotic Vehicles (TMRV) in unstructured environment. We have discussed intelligent schemes for robust maneuverability control of the TMRV under a Supervisory Mobility Controller. We have considered four tasks of TMRV including: Terrain Navigation, Tandem Mobility Control; Tactical Strategic Formation and Communication-based Control. We have developed a supervisory mobility controller environmnet using FMCell software with six functional control loop. In this paper, we present and discuss modular and functional architecture of our supervisory mobility controller, in particular, our strategies for separation of supervisory functions according to their complexity, priority, and intelligence requirements. Some examples demonstrating effectiveness and efficiency of the newly developed techniques are presented. We have also discussed how these behaviors can be applied to tandem unmanned ground vehicle systems.

Citation Download Citation

Amir Shirkhodaie, Richard C. Goetz, Abhijit Patkar, Mohammad Masour, Samual Aderogba, and Naveen Avalareddy "Behavior-based tactical navigational and mobility control of tandem ground robotic vehicles", Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); https://doi.org/10.1117/12.391648

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