Large Unmanned Ground vehicles


The LUGV (Large Unmanned Ground Vehicle) is one of two UGVs that has been originally developed in the context of the EU-FP7 project ICARUS, which targets at using robotic technology for search and rescue tasks. (The other one is the SUGV.)

The LUGV is based on a platform provided by the ICARUS consortium member Metalliance. It is a chain-driven vehicle that measures approx. 3 m by 2 m by 1.8 m (length by width by height) and has a weight of around 2,300 kg. A combustion engine powers the hydraulic systems of the chain drive and the arm. With a payload capacity of 300 kg, the LUGV can easily carry tools for its arm or the SUGV. The vehicle's arm has 5 DOF and can lift objects of up to 250 kg. It will be possible to control the arm from a remote location using an exoskeleton provided by the ICARUS partner Space Applications Services.

For localisation purposes, the LUGV is equipped with a sophisticated GPS receiver (Trimble BX982) and an inertial measurement unit with integrated magnetic compass (MicroStrain 3DM-GX1). Two laser ranger finders (SICK LMS511) are mounted on the vehicle-one at its front and the other at its back. A Velodyne HDL-32E yields 3D information about the world around the LUGV, while two stereo vision systems provide 3D information about the area in front of the robot. Industrial computers from DSM Computer run the control system.



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