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Segway Geophysical Tow Vehicle David Hodo David Bevly John Hung Bob Selfridge

Segway Geophysical Tow Vehicle David Hodo David Bevly John Hung Bob Selfridge. Overview. Collaboration between Auburn University and the Army Corp of Engineers Huntsville Center Goal: Provide an easily transportable tow vehicle for various geophysical sensors

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Segway Geophysical Tow Vehicle David Hodo David Bevly John Hung Bob Selfridge

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  1. Segway Geophysical Tow Vehicle David Hodo David Bevly John Hung Bob Selfridge

  2. Overview • Collaboration between Auburn University and the Army Corp of Engineers Huntsville Center • Goal: Provide an easily transportable tow vehicle for various geophysical sensors • Safer and more accurate UXO detection

  3. Background / Acknowledgements • Initial funding from ESTCP (Spring 2006) • Transportable Manned and Robotic Digital Geophysical Mapping (DGM) Tow Vehicle: Project MM-200608 • Continued funding from DERP FUDS MMRP-IT program and the Army Corp Huntsville Center

  4. Capabilities & Benefits • Autonomously control position and speed of a trailer with geophysical sensors. • Operated and monitored from distances up to 2 miles. • Increased safety and data quality from standard survey methods • Highly repeatable path and speed for comparing sensors and methodologies.

  5. Path Following • Follows paths consisting of lines and arcs • Places center of trailer on path • Capable of operation with and without GPS on trailer.

  6. Path Planning • Supports 3 task types • Grids • Waypoints • Six-line Tests • Can pre-plan around (sparse) known obstacles. • Grids and obstacles are defined by convex polygons. • Direction of travel and speed can be specified for grids.

  7. Simple Path Example

  8. Mission Planner (Screenshot) Grid Path Fence Lake

  9. User Interface • Allows tele-op and autonomous control of the vehicle • Displays • Desired and actual paths • EM sensor data (EM61Mk2 and TM5Emu) • System Health (battery voltages, pos. status, etc.) • Video feed • Remote PC and comm. equipment mounted in rugged Storm Case

  10. User Interface (Screenshot)

  11. Compact, Rugged Control Unit

  12. Major Demonstrations • McKinley Range, Huntsville, AL – numerous • Aberdeen Proving Ground (APG), MD – May 2007 • Camp Sibert: Site 18, AL - Sept 2007 • SERDP/ESTCP/NAOC Workshop, Denver, CO – July 2008 • Operated by Parsons Corp: • Great Salt Plains, OK – Dec. 2008 • Camp Sibert, AL – Jan 2009 • Ft. Benning, GA – May 2010

  13. Robot with G858 Magnetometer (APG)

  14. Robot with EM61Mk2 Array at GSP

  15. System at Ft. Benning, GA

  16. Sample Map (APG) • Mapping at APG with EM61Mk2 • Results from 4 grids shown • Gaps are from pre-planned obstacle locations.

  17. References • D.W. Hodo, D. M. Bevly, J. Y. Hung, S. Millhouse, B. Selfridge, “Optimal Path Planning with Obstacle Avoidance for Autonomous Surveying.” Proceedings of the 36th Annual Conference of the IEEE Industrial Electronics Society, Pheonix, AZ, November 2010. • N. Harrison, B. Selfridge, C. Murray, and D. Hodo, “Self-guiding robotic geophysical surveying for shallow objects in comparison to traditional survey methods,” Symposium on the Application of Geophysics to Environmental and Engineering Problems (SAGEEP), Keystone, Colorado, April 2010. • N. Harrison, B. Selfridge, M. Root, C. Murray, D. Hodo, D. S. Millhouse, “Self-Guiding Robotic System Surveying and Comparison to Traditional Survey Methods.” Proceedings of the UXO/Countermine/Range Forum™ 2009, Orlando, FL, August 2009. • W. Travis, D. W. Hodo, D. M. Bevly, and J. Y. Hung, “UGV trailer position estimation using a dynamic base RTK system,” Proceedings of the 2008 AIAA Guidance, Navigation and Control Conference, Honolulu, HI, Aug 2008. • D. W. Hodo, J. Y. Hung, D. M. Bevly, S. Millhouse, “Linear Analysis of Trailer Lateral Error with Sensor Noise for a Mobile Robot-Trailer System.” Proceedings of the 2007 IEEE International Symposium on Industrial Electronics, Vigo, SPAIN, June 2007. • D. W. Hodo, J. Y. Hung, D. M. Bevly, S. Millhouse, “Effects of Sensor Placement and Errors on Path Following Control of a Mobile Robot-Trailer System.” Proceedings of the 26th Annual American Controls Conference, New York City, July 2007. • D. W. Hodo, “Development of an autonomous mobile robot-trailer system for UXO detection,” Master's thesis, Auburn University, August 2007.

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