AutonoNav-Mini Overview™
The AutonoNav-Mini™ is a self-contained autonomous navigation controller. Deployed on vehicles where power, weight and volumetric constraints are limited, the AutonoNav-Mini excels at adding advanced autonomy to small unmanned ground vehicles. Weighing just over a pound, the AutonoNav-Mini packs a lot of capability into a very compact package.
- Semi-autonomous waypoint following
- Return to origin via retroverse of waypoint "bread-crumbs"
- Waypoint navigation during GPS outages
- Integration with an external SAASM compliant GPS
- Pose information can be monitored remotely
The sealed unit includes an autonomous navigation controller, GPS receiver, inertial measurement unit, and a WaySight wireless radio link. JAUS wrench effort commands are used to guide the vehicle to waypoints (target mode), cause the vehicle to follow behind a WaySight operator (follow me mode), or directly control speed and steering using the WaySight (WE mode).
Waypoints can be spooled from either the TORC WaySight or over JAUS using global waypoint messages. The position and attitude of the system are accurate to within 2.5 meters CEP, and are available at 20 Hz via JAUS global pose messages. All of the AutonoNav-Mini's network settings are operational parameters are configurable using a simple http interface.
The AutonoNav-Mini contains multiple processors for the Autonomous Navigation controller along with an onboard GPS, INS and magnetometer. Additional sensors such as SAASM compliant GPS and obstacle avoidance can be integrated on request via serial or Ethernet interfaces.
Standard JAUS components include a Global Pose sensor, Global/Local Waypoint Drivers, and a Subsystem Commander. The AutonoNav-Mini has the ability to control a JAUS interoperable vehicle through the use of Primitive Driver messages and other non-JAUS standard platforms such as the MK1 PackBot EOD. Semi-autonomous capabilities are driven by waypoints spooled either from the WaySight™ or by JAUS components.
| Navigation Package | With an internal GPS, magnetometer and an inertial navigation system, the AutonoNav-Mini can perform a variety of semi-autonomous missions and behaviors. |
| Compact and Rugged | The sealed, IP67 rated unit, has dimensions of approximately 4.91” x 2.6” x 2.6”, weighs 1.13 pounds, and consumes less than 5W of power. |
| WaySight™ Ready | Adding the WaySight to the AutonoNav-Minii expands the mission profile by adding a simple to use interface |
| JAUS Interoperability | JAUS version 3.3 software increases interoperability with systems. |
| Connectivity | An Ethernet interface and a long-range 900MHz wireless link provide connectivity with the host platform as well as operator control units (OCU). |
| Web Interface | All of the AutonoNav-Mini’s network settings, operational parameters, and firmware packages are configurable using a simple web interface. |
Mission Profiles
When installed on a JAUS-interoperable vehicle or one of the other supported platforms, the AutonoNav-Mini provides out of the box autonomy.
Potential applications include:
| Military | Commercial |
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| AutonoNav-Mini™ Specifications | |
|---|---|
| Electrical | |
| Input Voltage | 8-32 VDC |
| Power Consumption | 5 Watts |
| Environmental | |
| Temperature | -20°C to +70°C |
| Dust / Water Resistance | IP65 |
| Performance | |
| Navigation Update Rate | 20 Hz |
| Position Error | 2.5m CEP |
| Maximum Acceleration | 5g to 18g (depending on model) |
| Maximum Angular Rate | 300 to 1200 deg/s (depending on model |
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