Robotic/Automated Occupant Assist of Unmanned Ground Vehicles

Under Phase I, a Dodge ProMaster 2500 mobility conversion van was leased to act as the new ARIBO/ROARS vehicle platform. The conversion van was outfitted with the ROARS hardware controller, Quantum securement system, split-platform wheelchair lift, side door opener, three-point securement system, several safety interlock switches, a voice annunciator, and a Velodyne 16 LIDAR from the ARIBO system which acts as a virtual safety fence for the lift. In order to test and validate the hardware design, a prototype version of the ROARS software was developed. The scope of Phase II will be significantly expanded compared to Phase I, addressing the other principal technical objectives needed for a full-featured system: a drive-by-wire actuation kit for the handicap conversion van, design of brackets and cables to move the ARIBO hardware to a new platform, updating of vehicle configuration parameters, changes to the ARIBO scheduling system, ruggedizing the prototype hardware and software assembled during the rapid Phase I design effort, and perform safety testing. At the end of the Phase II effort, Robotic Research should have a well-documented, tested, and commercially viable “Robotic Occupant Assistive Ramping System” or ROARS vehicle running autonomously with an ARIBO kit.