Grant Gerhart

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JRP June 03 Developers Meeting
TARDEC Program Briefings
Grant Gerhart Jeff Jaczkowski Bill Smuda TARDEC
Robotic Mobility Laboratory (TRML)U.S. Army
TARDEC TACOMAMSTA-TR-R / MS 263Warren, MI
48397gerhartg_at_tacom.army.mil
June 2003
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TARDEC UGV Programs

• Vehicle Technology Integration (VTI)
• Omni-Direction Inspection System (ODIS)

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Vehicle Technology Integration
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Key Partners
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Vetronics Technology Integration
Crew integration Automation Testbed (CAT) ATD
Robotic Follower ATD
Two-crew
Decision Aids
multi-role
FCS Crewstations
Advanced
Electronic
Architecture
Ruck
Carrier
Supply Platoon
MANPRINT
Embedded
Advanced
Simulation
Interfaces
NLOS/BLOS Fire
Rear Security
Demonstrate the crew interfaces, automation, and
integration technologies required to operate and
support Future Combat Systems
Pacing Technologies
Pacing Technologies
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VTI Testbed Approach
Except for Crew Related Systems, much of the CAT
and RF Architecture is Identical
RF
Vetronics Crew Station
CAT
VTI-063

• The Common
• Architecture Involves

Software Open Architecture
Hardware Open Architecture

• Autonomous Mobility
• Obstacle Detection
• Mission Planning
• Software
• Hardware
• Intelligent Agents
• Sensors
• Drive-by-Wire

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Robotic Follower Approach

• H/W S/W design based on Demo III
• Complement GPS waypoints with high resolution
  terrain data from the CATs onboard sensors.
• Sensor terrain data will be registered to coarser
  onboard DTED map using advanced map registration
  techniques.
• Apply on-road enhancements from DoT.

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Robotic Follower - Chassis

• Stryker representative of FCS mounted systems
• XUV representative of FCS mule system

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Leader-Follower Interfaces
Unique requirements for mounted and dismounted
leader interface
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GSTAMDS Formation Control

Operational Concept

CAT vehicle serves as manned control vehicle

Operator
teleoperates
RF vehicle

XUV autonomously follows RF with required off-set

RF can also perform road following with XUV in tow
Speed

0-10 kph operational speed required for scanning
mission

Up to 40 kph desired for non-scanning vehicle
movement
Tele-operation, control and positioning

Manual vehicle operation 300 meters NLOS via
video feed

lt15cm absolute accuracy using GPS waypoints

lt10cm relative (vehicle to vehicle) accuracy in
RF mode
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CAT SMI Concept
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Driving Configuration
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FCS Unmanned Combat Demo
Targets
ARV-2 Demo III XUV
ARV-1 RF ATD (with COUGAR turret)
Control Vehicle (CV) CAT ATD

• Demonstrated
• 11 Operator to ARV Control
• ARV Engagement

CAT and RF ATDs leveraged to provide maximum
support to Future Combat Systems
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• The End

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Robotic Follower ATD Objectives

• Develop, integrate and demonstrate the
  technologies required to achieve unmanned
  follower capabilities for future land combat
  vehicles.
• Key RF Requirements
• Dismounted or Mounted Following.
• Semi-autonomous perception.
• Significant separation times and distances.
• Map data and sensor terrain feature registration.
• Road detection
• On-coming traffic detection.

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CAT Program Objectives

• Design an advanced 2-man crew station for a
  system lt 20 tons incorporating the FCS fight,
  carrier, reconnaissance, and C2 of unmanned
  systems.

• Key CAT Requirements
• Vehicle Crew Stations
• Control of Unmanned Systems
• Lethality, Survivability, RSTA
• FBCB2
• Commander's Associate
• Section Level Associate
• Voice and Data Comms
• Speech Recognition
• 3D Audio

• Indirect Driving
• Auto-Pilot
• RF Path Generation
• Drive-by-Wire
• Position/Navigation
• Software Reusability
• Closed-Loop Architecture
• Data Capture
• Embedded Simulation System

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Unmanned Asset Control
Used for planning, overviews, C2 functions
Asset Status
RSTA