Articulated Unmanned Ground Vehicles (UGVs) Controlled with Complimentary Semi- and Autonomous Mobility Behaviors.

摘要

This paper will discuss detailed descriptions of unique configurations of small articulated unmanned systems and describe the design of several approaches resulting in substantial increases in autonomous/semi- autonomous mobility and resultant survivability. The greater mobility results from unique chassis configurations which do not require the space claim for human operators. Each human occupant can consume 2 cubic meters of volume. This volume reduction results in a corresponding weight reduction also contributing to mobility enhancements. The UGVs can be designed with less stringent suspension requirements which are no longer needed for human comfort or performance. UGVs still require suspension for stability of sensors and ride performance but it is greatly reduced from 2.5Gs for human operation to up to 5Gs for unmanned operation. Novel techniques in chassis design are much easier to implement without the required crew compartment. This will be shown in the articulated and polymorphic configurations.