Autonomous Rhino Ground Vehicle

Autonomous Rhino Ground Vehicle (ARGV)

The Autonomous Rhino Ground Vehicle (ARGV) is a modified 2007 Yamaha Rhino. The ARGV is currently configured for drive-by-wire and remote control operation (operator onboard or external to the vehicle). It is capable of driving at 42 mph on flat terrain. The ARGV is capable of operation in nearly any terrain including rocky washes and sand dunes.

The graphical portion of the Ground Control Station (GCS) software is shown above. The GCS software is compatible with any USB joystick. The calibrate button allows the user to set the axis for accelerator, brake, and steering. The GCS software also gives the user the ability to shift between drive gears and includes built in safety features. For example, the GCS software includes a single start system, which prevents the operator from accidentally turning on the starter when the vehicle is already running.

Furthermore, our developmental software incorporates real-time video and video processing for machine vision. The software currently supports object tracking and will soon include road segmentation. Our autonomous modes of operation will support GPS navigation, cruise control, heading hold and even basic obstacle avoidance.

Click here to see video from the on-board Rhino camera. (Note: Very Low Quality to speed up download time.) (~17.0 MB)

If the YouTube Plugin does not work, Click here to see video of the Rhino under remote operation. (Note: Low Quality to speed up download time.)(~4.65 MB)

Above: First off-road excursion with the ARGV.

If you are having problems with the movie, Click here (100 MB file!)

If this file is too big, you can view an ultra compressed version here. (19 MB)

Above: Using the ARGV for Hauling. Download video here if the You Tube does not work.

Individual Component Descriptions: (Updated with Progress)

1.) Electronic Shifting