Autonomous robot for surveillance key applications

ARSKA is the laboratory's testbed for autonomous and teleoperated vehicle research. The testbed is based on a robust four-wheel driven Honda ATV (All Terrain Vehicle), which is instrumented for computer control. For the computer and other accessory devices ARSKA is equipped with an auxiliary power system, which provides power up to 1 kW. The vehicle control interface is compatible with standard I/O-cards, so the most suitable computer hardware and control software can be selected for individual purposes.

In the design of the vehicle the manual driveability has been specially considered, so that the vehicle can be switched from a computer control to manual control flexibly. It is also possible to make measurements while the vehicle is driven manually. This allows the modelling of human driver, or teaching of routes to the vehicle. The use of Honda ATV makes it possible to use the vehicle for real tasks as towing loads or mowing lawns for demonstration purposes.

Additional tailor-made control modules for the control of ARSKA can be provided. The customer can choose a high-level or low-level control package. The low-level packages gather information and control the actuators, whereas the high-level software packages control autonomous moving and provide an interface for mission planning.

Technical Data

Vehicle

• Motor:
  • Gasoline
  • Air cooled
  • 4 stroke
  • Cylinders: 1
  • Volume: 350.4 cm3
  • Max.power: 24.5 hp/6000 rpm
  • Max.torque: 28.4 Nm/5500 rpm
• Length: 1975 mm
• Width: 1040 mm
• Ground clearance: 160 mm
• Dry weight: 259 kg
• Drive: Four Wheel
• Clutch: Wet multi-plate, semi-automatic
• Transmission: 5-speed constant, mesh with reverse

Electrical system (vehicle)

• Voltage: 12 V
• Alternator: 310 W/5000 rpm
• Battery: 12 V, 12 Ah

Instrumentation

• Steering: 24 DC linear servo and servo card, -10V - +10V control voltage
• Brake: 24 DC linear servo and servo card, -10V - +10V control voltage
• Gear: 3 switches indicating the position of linear motor and 2 switches indicating the state of the gear (reverse/neutral)
• Throttle: Potentiometer
• Speed: Takogenerator, output -20 - +20 mA
• Distance: Pulse generator
• Motor speed: Ignition measurement, output 0 - 5V

Electrical system (for instrumentation and user equipment)

• Power: 24 V
• Generator: 1 kW
• Battery: 60 Ah
• Other voltages: Customer specified
• Alternatives: -5, +5, -10, +10, -12, +12, -15, +15, -24, regulated +24 V

Publications

• T Schonberg, M Ojala, J Suomela, A Torpo and A Halme,
  "Positioning an autonomous off-road vehicle by using fused DGPS and inertial navigation,"
  International Journal of Systems Science, Vol. 27, no. 8, s. 745-752, 1996.
• K Koskinen, A Halme and A Tuunanen,
  "Perception and Navigation System for Autonomous Mobile Applications,"
  in Proceedings on Tampere International Conference on Machine Automation, Tampere: Tampere University of Technology, 1994, 111-126.
• T Schönberg, M Ojala, E Koskimäki, J Suomela and A Halme,
  "A small Scaled Autonomous Test Vehicle for Developing Autonomous Off-Road Applications,"
  in Proceedings of Tampere International Conference on Machine Automation, Tampere: Tampere University of Technology, 1994, 143-157.
• A Halme and K Koskinen,
  "An Approach to Automate Mobility of Working Machines in Outdoor Environment,"
  in Proc. IEEE International Conference on Intelligent Robots and Systems, Yokohama, 1993, IEEE, 1993, 598-603.
• K Koskinen,
  "Research in Autonomous Mobile Robots and Workmachines,"
  in High Technology in Finland, E Tunkelo, S Sjöman and T Huokuna, Helsinki: Teknillisten tieteiden akatemia, 1993, 78-79.
• K Koskinen, H Mäkelä, K Rintanen, A Halme, M Ojala, J Suomela and T Schönberg,
  "An Experimental Autonomous Land Vehicle for Off-Road Piloting and Navigation Research,"
  in Proc. IEEE Conference on Systems, Man and Cybernetics, Le Touquet, 1993, Ranska: IEEE, 1993, 151-156.
• K Koskinen, H Mäkelä, K Rintanen and A Halme,
  "A Piloting System for Autonomous Robots in Outdoor Applications,"
  in Proc. ICARCV 92, Singapore, 1992, 1992.
• K Koskinen, H Mäkelä, K Rintanen, A Penttinen and A Halme,
  "Motion Control for Autonomous Vehicles in Outdoor Environment,"
  in Proc. San Diego, 1992, International Conference on Industrial Electronics, Control, Instrumentation, and Automation, USA: IEEE, 1992, 838-843.