Teleoperation and Autonomous Guidance Systems for Off-Road Vehicles

Paper #:
  • 941804

Published:
  • 1994-09-01
Citation:
Mononen, J., Nieminen, T., and Puputti, J., "Teleoperation and Autonomous Guidance Systems for Off-Road Vehicles," SAE Technical Paper 941804, 1994, https://doi.org/10.4271/941804.
Pages:
10
Abstract:
An all-hydrostatic, track-driven vehicle with both remote control and autonomous operation capabilities was designed.The platform vehicle features fully hydrostatic drive with a variable displacement pump and a hub motor for each track. The combination of hydrostatic drive and tracks offers excellent controllability for autonomous applications as well as good maneuverability and traction.The remote control system allows the user to operate both the vehicle and various payloads, including robotic manipulators and surveillance equipment. The teleoperation (video-assisted remote control) has the same basic functionality, but allows the operator to be beyond visual range from the vehicle.The autonomous control system includes an easy-to-use man-machine interface and mission planning module, precise positioning, and autonomous controls for both the vehicle and the payload. The system design is modular and adaptable. Portions of the autonomous control technology can be used in conjunction with teleoperation for semi-autonomous use.
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