Motion planning for the Universal Self-Deployable Cargo Handler (USDCH)

Abstract

Belvoir Research, Development and Engineering Center (Belvoir) is developing advanced material handling equipment for sustaining material requirements of Airland Battle-Future. In particular, Belvoir is developing a rough terrain forklift truck, the Universal Self-Deployable Cargo Handler (USDCH), that also is called ATLAS. USDCH program approach allows interaction between the operator and the automated controlling systems, while progressively adding robotics, artificial intelligence, and automated methods. Major challenges involve the development of methodologies to provide real-time operations in hostile field environments and to exploit human-machine synergism for maximum efficiency and reliability. This paper reports on robotic motion planning for two major functions of the USDCH: platform mobility and motion of the material handling arm. Novel approaches were necessary to automate the basic motion of the platform and the arm. The algorithms for positioning the platform at a work area are presented and results showing optimum trajectories of the vehicle are given. These results show that the methodologies and algorithms developed are applicable to a wide class of vehicles. 3 refs., 7 figs.