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Key
features of the
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HADRS installed on a Packbot. HADRS fits neatly into 1/3 of the payload bay of a Packbot, but can be mounted on any wheeled or tracked ground vehicle. |
Performance For missions of up to 30 minutes duration:
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Typical trajectory of a HADRS-recorded Packbot run over rugged, steeply inclined terrain. |
Typical Experimental Results
Red curve (in figure on the right): trajectory recorded by
the HADR system
Note: Packbot started and stopped at the same point (0,0)
Total travel distance:
676 m
Total travel time:
28.5 min
Return Position Error:
1.04 m (=0.15% of total distance traveled)
Largest position error anywhere during this run: ~2
m (=0.3% of total distance traveled)
Steepest slope traversed: 10 - 15 deg on grass
Challenges in this experiment:
partially sloping terrain, traverse of several curbs
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System components
Controlled by a Gumstix computer-on-module.
Sensor modalities:
-
NavChip inertial measurement unit (IMU)
- KVH
single-axis fiber optic gyro (FOG)
- Host's
odometry OR our add-on encoder system.
- Active
temperature stabilization for FOG and IMU.
Optional:
-
Integration with external GPS receiver.
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Operator console unit with
>Option
1: Text only
>Option
2: trajectory plotter to support tele-operation
Total cost of the off-the-shelf system components: ~$7,000
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Block diagram of the main hardware components of the HADR System. |
HADRS rev. 2 dimensions
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