A HIGHLY-MANEUVERABLE, HIGH-SPEED INSPECTION ROBOTIC VEHICLE

摘要

Existing UGV platforms range from fast reconnaissance vehicles with simple payloads to slower EOD vehicles with limited mobility and complex manipulators. RE2, Inc., through an SBIR program with TARDEC, has developed the High Speed Inspection Robot (HSIR) vehicle platform for bridging the gap between the two. The uniqueness of the HSIR platform is high maneuverability with fine locomotion control, for optimal manipulator use, and the ability to travel at relatively high speeds across diverse and rough terrain. The HSIR’s innovative all-wheel-steerable capability and sophisticated suspension system provides this UGV with high-speed, highly controllable mobility (up to 40 kph), and near omni-directional low-speed driveability for hands-on inspection tasks using its on-board manipulator payload. This paper presents the design rationale and analysis that was conducted to create the unique HSIR unmanned ground vehicle.