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Talk-14: MOOS-IvP for Rapid Behavior Prototyping on a JAUS Based Ground Vehicle
John Wood, Kai-yuh Hsiao, Scientific Systems Company Inc. (SSCI)
Scientific Systems Company, Inc. (SSCI) is leveraging the freely available MOOS and MOOS-IvP software to rapidly develop and deploy a solution for autonomous waypoint planning and execution of a treaded ground vehicle via a JAUS interface. The system is expected to participate in a range clearance competition later this year.
Integration of SSCI's MOOS based autonomy and the JAUS interface to the vehicle is underway. Later this month (June 2011) a test event is scheduled on Cape Cod, MA to demonstrate autonomous operations of the vehicle in a representative real-world environment. By leveraging MOOS and MOOS-IvP as a baseline autonomy platform, SSCI is able to focus more of its efforts on other aspects of the system, such as system identification of the vehicle dynamics and the design of the operator interface. In this presentation, SSCI will discuss its experiences with the integration and implementation of the autonomy aspects of the system.
Categories:
- Ground Robotics
- MOOS-IvP
- JAUS