Robotik: CANGURU — Diehl BGT Defence

Robotik: CANGURU — Diehl BGT Defence

Diehl BGT  - CANGURU bzw. MUSTANG MK I ELROB2008 was a great chance for the Diehl BGT Defence team to get into con­tact to MoD, mil­i­tary users and com­pa­nies as well as to uni­ver­si­ties and insti­tutes to learn the sta­tus of tech­no­log­i­cal solu­tions and espe­cial­ly get aware of users needs. This gives them the pos­si­bil­i­ty to align the devel­op­ment roadmap to be most effi­cient with­in the young team (start­ed in the begin­ning of 2007 on the area of “auton­o­my”) con­cern­ing intel­li­gent, mobile sol­dier assis­tance sys­tems like the pre­sent­ed CANGURU (the vehi­cle internally/nationally also known as MUSTANG MK I). A task and user ori­ent­ed imple­men­ta­tion of scal­able autonomous func­tions has been start­ed and will be one focus for fur­ther research and devel­op­ment. Goals are force pro­tec­tion, secure­ment, camp / con­voy secu­ri­ty, MULE with trans­port, con­voy­ing as well as local recon­nais­sance and “guard dog” func­tions.

The Diehl team had the chance to mea­sure and store a vari­ety of data under real envi­ron­ment sys­tem oper­a­tion dur­ing ELROB2008 to test and ver­i­fy the sys­tems per­for­mance and to adjust fur­ther devel­op­ments pre­cise­ly rely­ing on the results which were achieved.

Diehl BGT  - CANGURU bzw. MUSTANG MK I The vehi­cle basic plat­form is based on a cost-effec­tive com­mer­cial-off-the-shelf solu­tion. Its weight is about 350 kg and the load capac­i­ty is 250 kg (please refer to spec­i­fi­ca­tion data at the end of the arti­cle). It is ful­ly dig­i­tized. The assis­tance sys­tem com­pris­es a hybrid dri­ve­train for long range oper­a­tion (200 km / 6–10hrs) capa­bil­i­ties as well as silent move­ment. Var­i­ous changes and mod­i­fi­ca­tions have been done to first give the exper­i­men­tal demon­stra­tor a mil­i­tary chas­sis and more robust func­tion­al­i­ties with respect to oper­a­tions in unstruc­tured ter­rain and more envi­ron­men­tal suit­abil­i­ty while oper­at­ing.

The sys­tem core func­tions (dri­ve-by-wire and remote con­trol) are real­ized PC free com­pris­ing a micro­con­troller board com­put­er. This leads to instant pow­er on and a very robust, fail safe core oper­a­tion. Addi­tion­al­ly the sys­tem com­pris­es two mini PC units to process nav­i­ga­tion as well as vision sens­ing data in an effec­tive way. One PC is pro­cess­ing laser rangefind­er datas­treams and ultra­son­ic sen­sors data as well as the sys­tem com­mu­ni­ca­tion data (con­trol sta­tion to robot and robot-to-robot), the oth­er one is pro­cess­ing a ground­sen­sor, the GPS/inertial data and the data from the CCD cam­era used for the “fol­low­ing func­tion”. Here­in, the oper­at­ing sys­tem is Lin­ux.

Cur­rent­ly, the vehi­cle is incor­po­rat­ing two autonomous modes which will be enhanced in suc­ces­sion. The first one is the autonomous fol­low­ing func­tion (fol­low per­son, jeep, UGV etc.) and the sec­ond one is the autonomous sur­veil­lance / recon­nais­sance func­tion based on way­point plan­ning and exe­cu­tion.

Diehl BGT  - CANGURU bzw. MUSTANG MK I After plan­ning the tasks / mis­sion with help of the graph­i­cal user inter­face of the mis­sion plan­ning tool, the sys­tem is able to fol­low the set of way­points autonomous­ly pre­vent­ing col­li­sions with neg­a­tive and pos­i­tive obsta­cles. In same cas­es, request­ing the oper­a­tor could hap­pen if the local sit­u­a­tion assess­ment is unclear. The way­point-to-way­point tra­jec­to­ry is always cal­cu­lat­ed as lin­ear move­ment. Short tra­jec­to­ries will be able to be bypassed with­out receiv­ing a GPS sig­nal. The mode is day and night capa­ble.

While mov­ing, the envi­ron­ment is per­ceived through laser range find­ers, vehi­cle plat­form cam­eras and a monoc­u­lar vision sys­tem. A pay­load recon­nais­sance suite com­pris­es an infrared cam­era (micro-bolo­met­ric) and a 360° CCD colour zoom cam­era.

As a sta­tus, a so called “hybrid usage” com­pris­ing 3 dif­fer­ent modes of oper­a­tion has been real­ized. Dri­ve-by-wire func­tion per­formed by the oper­a­tor on-board, sin­gle-per­son remote con­trolled oper­a­tion with a portable ground con­trol sta­tion and the mis­sion or task planned oper­a­tion (use of a stan­dard, ruggedi­zed note­book) with the two autonomous­ly run­ning func­tions described above. The portable ground con­trol sta­tion also deliv­ers the oper­a­tor vehi­cle sta­tus infor­ma­tion (atti­tude, ener­gy, dri­ve­train etc) to be aware of sys­tem oper­abil­i­ty.

The key char­ac­ter­is­tics of the sys­tem are the fol­low­ing.

Height
~2.20 m
Width
1.11 m
Length
2.15 m
Weight
350 kg
Ground clear­ance
0.2 m
Climb­ing per­for­mance
45 %
Propul­sion / dri­ve­train
Hybrid ~3 kW / 4‑wheel dri­ve
Endurance
6–10 h
Max­i­mum speed
20 km/h
Max­i­mum range (w — w/o com­mu­ni­ca­tion)
2.5 — 200 km
Load capa­bil­i­ty
~250 kg

The team is led by Dirk Krog­mann, Diehl BGT Defence GmbH & Co. KG, pro­gramme man­ag­er, with his office at Ueber­lin­gen, Ger­many. The tech­ni­cal point of coor­di­na­tion is Thomas Kopf­st­edt, Diehl BGT Defence GmbH & Co. KG, Ueber­lin­gen. The vehi­cle is real­ized under coop­er­a­tion with the Fraun­hofer Insti­tute for Infor­ma­tion and Data Pro­cess­ing, led by Andreas Wen­zel, head of embed­ded sys­tems at the insti­tute sub­sidiary in Ilme­nau, Ger­many. The devel­op­ment is sup­port­ed by the Ger­man Fed­er­al Min­istry of Defense, the Fed­er­al Office of Defense Tech­nol­o­gy and Pro­cure­ment and the Tech­ni­cal Cen­ter 51, Koblenz.

Image source: Diehl BGT Defence GmbH & Co. KG

Team GlobDef

Team GlobDef

Seit 2001 ist GlobalDefence.net im Internet unterwegs, um mit eigenen Analysen, interessanten Kooperationen und umfassenden Informationen für einen spannenden Überblick der Weltlage zu sorgen. GlobalDefenc.net war dabei die erste deutschsprachige Internetseite, die mit dem Schwerpunkt Sicherheitspolitik außerhalb von Hochschulen oder Instituten aufgetreten ist.

Alle Beiträge ansehen von Team GlobDef →