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We discuss the development, design, implementation, and de monstration of a robotic UGV (Unmanned Ground Vehicle) system for networked and non-line-of-sight sensing applica tions. Our development team is comprised of AFRL Summer Interns, University Faculty, and Personne l from AFRL. The system concept is based on a previously published technique known as Dual-UAV Tandems for Indirect Operator-Assisted Control [1]. This architecture is based on simulating a Mini-UAV Helicopter with a building-mounted camera and simulating a low-flying QuadRotor Helicopter with a Robotics UGV. The Robotics UGV is fitted with a custom-designed sensor boom and a surrogate chem/bio (Carbon Monoxide) PCB sensor extracted from a COTS (Commercial- Off-The-Shelf) product. The CO Sensor apparatus is co-designed with the sensor boom and is fitted with a transparent covering for protection and to promote CO (surrogate chem/bio) flow onto the sensor.The philosophy behind this non-line-of-sight system is to rela y video of the UGV to an Operator station for purposes of investigating Indirect Operator-Assisted Control of the UGV via observation of the relayed EO video at the operator station. This would serve as a sensor fusion, giving the operator visual cues of the chemical under detection, enabling him to position the UGV in areas of higher concentration. We re corded this data, and analyzed the best approach given a test matrix of multiple scenarios, with the goal of determ ining the feasibility of using this layered sensing approach and the system accuracy in open field tests.For purposes of collecting scientific data with this system , we developed a Test (data collection) Matrix with following three parameters: 1. Chem/Bio detection level with side-looki ng sensor boom and slowly traversing UGV; 2. Chem/Bio detection level with panning sensor boom and slowly traversing UGV; 3. Chem/Bio detection level with forward-looking sensor boom and operator-assisted steering based on onboard wind vane readings of UGV display that is overlayed onto relayed video. In addition to reporting the trends and results of analysis with regard to data collected with this Test Matrix, we discuss potential approaches to upgrading our networked robotics UGV system and also introduce the concept of swapping sensors with this low-cost networked sensor concept.Keywords: Wireless Sensor Networks, MAV, UGV, Layered Sensing, Chem/Bio Sensor Motes, Indirect Operator-Assisted Control.*atindra.mitra@wpafb.af.mil; 1 937 255 6427 x4331; AFRL/RYRR, Building 620, 2241 Avionics Circle,Wright-Patterson AFB, OH 45433 |
