| Absolute Localization Outdoor |
Actual Solution |
GPS Standard-IMU-Magnetometer-Velocity Model |
| Possible Solution |
GPS RTK & Beaconing |
| Tele-Operation |
Actual Solution |
Remote Teleoperation by a digital spherical camera, with vehicle diagnostic telemetry and 2D laser scanner near the robot |
| Possible Solution |
Semiautonomous function to let the veichle reduce operator control during critical phases, i.e autonomous back to the original departure point. |
| Vectorial Guide |
Actual Solution |
Actually the robot is able to move between following points with total autonomy by a behavioural alghoritms based on arbitration without trajectory control. This architecture is extremely robust in dynamical enviroment. |
| Possible Solution |
We want to test new behavioural architectures based on behavioural fusion to substitute arbitration to reach a best efficiency in managing the model to reach goals and battery life |
| Way Point Navigation |
Actual Solution |
The robot receives waypoints data and it follows the waypoints in total autonomy |
| Possible Solution |
TRP1 will be provided with a topological trajectory planner, to let the robot to reach the goal in an ambient by a topological map |
| Obstacle Avoidance |
Actual Solution |
Obstacle Avoidance is realized by a very robust reactive behaviour able to respond to unexpected obstacles and moving obstacles |
| Possible Solution |
New architecture based on behavioural fusion will let to manage in efficient manner the obstacle avoidance in an hight density obstacles presence. The robot's behaviour will depend on the number of detected obstacles. |
| Local Mapping |
Actual Solution |
The local mapping is the sensor module with microprocessor able to detect and localize all the objects near the robot. Actually it is based on Laser Range Finder for indoor and outdoor. |
| Possible Solution |
We want to integrate a Midium / Short Range Radar. We are studying data fusion tecniques to increase the local mapping survey reliability for different sensors. |
| Communications |
Actual Solution |
WiFi ( full digital to control telemetry, video system and mission payload ) |
| Possible Solution |
We want to add a low frequency , narrow bandwidth (900 MHZ Zigbee) for backup and for security control. |
| Hardware Architecture |
Actual Solution |
PC104 (O.S. Windows) + electronic modules to control actuators. ( Obstacle Avoidance Module with a dedicated microcontroller) |
| Possible Solution |
We want to install an High Level Unit (PC104) and a Low Level Unit ( microcontroller), and a Real Time O.S. |
| Mission Payload |
Actual Solution |
Industrial Robotic Arm for demining and anti IED operations, NBCE Sensors, Electronic War Sensors, RISTA Sensors, Comunications support.
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Possible Solution |
Ad-hoc Robotic Arm |
| Power Supply Vs Payload |
Actual Solution |
24V Pb battery direct current, DC-DC ±12, +5, +3,3 Converter |
| Possible Solution |
LiIon Battery 48V with converters |
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