CMU and Georgia Tech UGCV GOAT Research
This page reports on CMU (and future Georgia Tech)
contributions to the development of
the Goes Over All Terrain (GOAT) vehicle funded under DARPA's UGCV
program. The GOAT robot design is by Michael Catalan and Mike Dodson at
Battelle. Our work focuses on providing designs for the computer controls
and developing mobility algorithms.
Personnel
Faculty:
Prof. Tucker Balch, PI (Georgia Tech)
Dr. Brett Browning (CMU)
Prof. Matt Mason (CMU)
Prof. Manuela Veloso (CMU)
Students:
Ravi Balasubramanian
Steve Stancliff
GOAT Model
To demonstrate the mobility capabilities of the GOAT we
have designed and built a radio-controlled prototype of the
robot.
2D Kinematic Simulation and Optimal Trajectory Planning
To investigate the kinematic limits of the GOAT design we
have developed a 2D simulator. The
simulator is coupled with a trajectory planner.
- See images and read more about the kinematic simulation.
Towards Benchtop Prototyping and Evaluation
Matt Mason and his students have developed system for rapidly
prototyping and testing new robot designs and control schemes
for mobile robots.
Beginning in Sept we will use this system to build computer
controlled models of the GOAT for benchtop testing.
- See a movie of a
robot in Matt's lab. This robot is designed to
manipulate the objects you might find on your desktop
(e.g. pencils and paper).