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of a tracked BD50 Dozer into a tele-          light weight All Terrain Vehicle (ATV)         where the ATV is teleoperated. The work
operated Dozer for landslide and earth        was taken up as a confidence building          involved the design and development of
moving operations for the Indian Army         measure. The vehicle platform chosen           all major systems of a full scale UGV, albeit
in hazardous terrains. Plans are also afloat  was a tracked, skid steerable ATV, as the      on a smaller scale. The schematic breakup
for the development of a Unmanned             vehicle characteristics are similar to a full  of the major systems in the Teleoperated
Combat Ground Vehicle (UCGV).                 size tank. The main objectives were:           ATV is as follows:
                                              â—Š	 Understand the technologies                 â—Š	 ATV platform
    CVRDE has proved its technological        	involved                                      â—Š	 Drive-by-Wire (DBW) sub-system
capability while starting the project with    â—Š	 Understand the system                       â—Š	 Tele-operation sub-system
practically no technical background in        	 performance parameters during                â—Š	 Base station sub-system
this demanding technological domain,          	teleoperation
to a matured level and that is the real       â—Š	 Study the correlation between               Drive-by-Wire Sub-system
challenge.                                    	 the vehicle characteristics and the
                                              	 system performance parameters                    This core UGV technology involves
    CVRDE has today developed the             â—Š	 Evaluate the effect of system               the conversion of the manually operated
necessary expertise, experience and           	 latency on teleoperation                     driver’s controls (acceleration, brake, gear
domain knowledge in this critical field       â—Š	 Evaluate the operator experience            shift, steering, etc.), into electronically
and has achieved self-sufficiency. Today,     	during teleoperation, with                    operated controls through the integration
CVRDE has the proven capability to            	 reference to the tele-presence               of electro-mechanical actuators, thus
convert any vehicle (wheeled or tracked)      	provided by the perception                    enabling the electronic control of the
into rugged tele-operated or autonomous       	system                                        vehicle. The DBW system should also
vehicles which can operate in demanding       â—Š	 Understand and implement                    allow manual operation by the driver at
terrain or environmental conditions.          	 emergency response mechanisms                any point in time. For the DBW system
The spectrum of UGV technologies and                                                         of this project, a stepper motor/drive and
systems developed by CVRDE during the             To ensure scalability and modularity,      cable based mechanism was implemented
last few years is schematically shown in      Commercial Off the Shelf (COTS) open           for each of the driving controls of the
figure below:                                 source systems/items were predominantly        vehicle. As the choke was to be operated
                                              used. The teleoperated ATV system has          for the starting of engine, a solenoid with
 Tele-operation of an All                     two major components: the teleoperated         spring return and a limit switch feedback
      Terrain Vehicle                         ATV (UGV) and the base station from            arrangement was used to operate it. The

    During the initial years, the
development of a teleoperation of a

UGV technologies developed by CVRDE           UGV based on All Terrain Vehicle (ATV) and the
                                                                     base station

4 March-April 2018 							                    Unmanned Ground Vehicles: Present and Future
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