Graphical automated materiel handling for the smart crane ammunition transfer system

摘要

This paper presents and demonstrates a graphical automated materiel handling approach for the Smart Crane Ammunition Transfer System, which is designed to handle, deliver, and reload missiles/ammunition in the battlefield. ^This approach facilitates the recycling of resources and speeds up various system development cycles. ^An intelligent trajectory planner is developed to generate an optimal motion and collision avoidance trajectory for the end-effector and grapple in maneuvering the materiel to its final destination. ^A graph object is created for each control object. ^The developed graphical materiel handling system has been successfully tested and demonstrated through on-site experiments. ^(Author)