A Prototype Vehicle Geometry Server: Design and Development of the ModelServer CORBA Service

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Authors
  1. Monckton, S.
  2. Vincent, I.
  3. Broten, G.
Corporate Authors
Defence R&D Canada - Suffield, Ralston ALTA (CAN)
Abstract
Defence R&D Canada is developing autonomy technologies for unmanned ground vehicles (UGV) and sensors (UGS); air (UAV) and subsea and surface (UUV and USV) vehicles – all operating together with minimal human oversight. To act autonomously, such devices must understand and change themselves and their surroundings through internal and external sensing and control. Autonomous systems must often model their physical structure as well as localizing or estimating their position in the world. Together, internal geometric models, localization, and range sensing produce an interpretation of the system’s surroundings. For motion over and through complex environments, DRDC must further consider the use of dynamic models inside vehicle control loop to predict the necessary control forces for maneuver. These issues drove the adoption of modeling conventions compatible with systems that simulate mechanical dynamics including friction and closed kinematic chains. With sufficiently capable processing and high fidelity sensing, these systems can provide predictive control for even the most dynamic maneuvers. The first step, however, is to develop a regimented method of describing and storing system geometry. This report reviews the design of an elementary, prototype geometric model server and briefly describes the localization portion of the server.

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Report Number
DRDC-SUFFIELD-TR-2005-240 — Technical Report
Date of publication
01 Dec 2005
Number of Pages
78
DSTKIM No
CA026921
CANDIS No
524918
Format(s):
CD ROM

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