Behavior Based Control of Robotic Payloads for Detection, Neutralization and Interrogation of Explosive Hazards

摘要

This paper discusses robot behaviors and an interaction scheme between the robot and the operator needed to facilitate both the near and long term future AMDS program goals. The behaviors necessary to meet the AMDS goals include guarded motion, shared control driving, ground scanning with height control, and mobile manipulation capabilities such as automated reaching, object scanning and particulate sampling. The Operator Control Unit (OCU) is also discussed together with innovative concepts for interface design including visualization and tasking tools. The paper also discusses how these behaviors can support the near-term manufacture and deployment of payloads to support dismounted combat missions.