Perimeter Detection
Description
As part of a project for the Defense
Advanced Research Projects Agency (DARPA), Sandia's
Intelligent Systems & Robotics
Center (ISRC) is developing and testing a robotic perimeter detection
system for Small Unit Operations. The objective is to demonstrate
the viability of using a cooperative team of robotic sentry vehicles
to investigate alarms from intrusion detection sensors. This cooperative
team concept can significantly reduce the workload and increase the
effectiveness of a single warfighter in the battlefield. Provably convergent
cooperative controls have been used to guide multiple vehicles without
human intervention. The robotic vehicles make the perimeter detection
system easily mobilized for redeployment.
Features
Sandia's Robotic Perimeter Detection System consists of 3 subsystems:
- Miniature Intrusion Detection System or MIDS,
-
Robotic All Terrain Lunar Exploration Rover or RATLER™ vehicles, and
Military
grade MIDS sensors
- Originally developed by Sandia, now commercially available from Qual-Tron, Inc.
- Sensor Types: magnetometer,
seismic, passive infrared, and beam break (or active) infrared
- Magnetometer range: armed personnel - 1 meter, vehicles - 5 to 30 meters
- Seismic range: 20 meters depending on type of soil
- Passive and beam break infrared range: approximately 30 meters
- Radio Communication
- 138-153 MHz radio frequency (partitioned to 600 radio frequency channels
- Up to 1000 input devices (magnetometer, seismic, etc.) per channel
- R.F. Output: 1 Watt
- Originally developed by Sandia as a prototype vehicle for a lunar mission
- 1'x2'x2' custom
composite body and wheels
- Intel 486sxlc,
66MHz, PC-104 form factor, embedded PC
- Differential GPS
receiver
- Spread spectrum
two-way packet radios communicate to other vehicles and base station
(1km range typical)
- Electronic compass
and tilt sensors
- Video camera and
RF video transmitter
- RF receiver for MIDS sensor
- Pentium laptop computer
- Differential GPS base receiver
- Spread spectrum two-way packet radios communicate to other vehicles (1km range typical)
- Battery power supply
- Graphical display:
- MIDS sensor status and location
- Vehicle status and location
- Vehicle control:
- Teleoperation of one or more vehicles in formation.
- Provably convergent control for autonomous navigation of one or more vehicles to a specified GPS location.
- Sentry mode - Embedded software in each RATLER™ decides if it should attend an alarm or adjust it's position around the perimeter in anticipation of another alarm
Collaboration
Over the next two years, Sandia will be expanding on the capabilities
of these cooperative autonomous vehicles to perform additional tasks in
more difficult terrain. Sandia welcomes collaboration with other agencies
on further developing systems for military operations, border protection,
and space applications.
John Feddema
(505) 844-0827
email: jtfedde@sandia.gov
