NASA NTRS · 19930000595
Experimental Semiautonomous Vehicle
Abstract
Semiautonomous rover vehicle serves as testbed for evaluation of navigation and obstacle-avoidance techniques. Designed to traverse variety of terrains. Concepts developed applicable to robots for service in dangerous environments as well as to robots for exploration of remote planets. Called Robby, vehicle 4 m long and 2 m wide, with six 1-m-diameter wheels. Mass of 1,200 kg and surmounts obstacles as large as 1 1/2 m. Optimized for development of machine-vision-based strategies and equipped with complement of vision and direction sensors and image-processing computers. Front and rear cabs steer and roll with respect to centerline of vehicle. Vehicle also pivots about central axle, so wheels comply with almost any terrain.
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Wilcox, Brian H., Mishkin, Andrew H., Litwin, Todd E., Matthies, Larry H., Cooper, Brian K., Nguyen, Tam T., Gat, Erann, Gennery, Donald B., Firby, Robert J., Miller, David P., Loch, John L., Slack, Marc G.. 1993-09-01. Experimental Semiautonomous Vehicle. https://ntrs.nasa.gov/citations/19930000595
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