Intelligent Vehicle Behaviors for Explosive Hazard Detection&Neutralization on Narrow Unimproved Routes

This project will design a mid-sized unmanned ground vehicle (UGV) system to support soldiers to effectively perform improvised explosive device defeat (IEDD) tasks remotely. IEDD task areas include navigation, hazard sensing, and neutralization. The control system willenable simple and safe UGV navigation through remote rugged terrain while minimizing operator attention demands. The system will include a UGV, perception and hazard sensors, manipulator(s), and operator control unit(s) and interface that address various IED configurations. The system will use the 5D Behavior EngineTM (BE) which enables intelligent instantaneous reactive responses to local environmental, sensor, and other data. It will orchestrate a suite of behaviors enabling simplified vehicle navigation and emulating the best heuristics of human sensor and neutralizer manipulation. Some detection and neutralization tasks that require more control and detailed direction by the human operator will be supported with innovative perception and behaviors. Equally important is the operator control unit and interface, which must not only simplify manipulation but also provide operators with appropriate sensor data that attain high confidence in hazard declarations. Improved human-robot interaction (HRI) is paramount for interface controls, tasking, and data representations and interface interactions will be designed to minimize operator workload and minimize required attentions.