Jaguar 4×4 UGV: An autonomous deployment of a wireless sensor network

Author

Malavenda, Claudio S.

Author_Institution

Selex Sist. Integrati s.p.a., Rome, Italy

fYear

2012

fDate

20-22 June 2012

Firstpage

1213

Lastpage

1218

Abstract

In this research is reported the result of the autonomous navigation reached with the Jaguar 4×4 platform, a commercial Unattended Ground Vehicle (UGV). The presentation is composed mainly in three sections. The first one present the kinematic and dynamic model used to represent the UGV. It is a 4×4 robot with anolonomous constraints. The second one, based on the model adopted, presents the results of the development of an autonomous drive system for outdoor scenario. The third section addresses the navigation of the UGV in presence and coordination with a wireless sensor network.

Keywords

mobile robots; navigation; remotely operated vehicles; robot dynamics; robot kinematics; wireless sensor networks; Jaguar 4×4 UGV; UGV; autonomous deployment; autonomous drive system; autonomous navigation; commercial unattended ground vehicle; dynamic model; kinematic model; robot; wireless sensor network; Kinematics; Land vehicles; Navigation; Planets; Vehicle dynamics; Wheels; Wireless sensor networks; Cooperating objects; Unattended Ground Sensor; Unattended Ground Vehicle; Wireless Sensor Network;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2012 International Symposium on

Conference_Location

Sorrento

Print_ISBN

978-1-4673-1299-8

Type

conf

DOI

10.1109/SPEEDAM.2012.6264619

Filename

6264619