Deployment of shaped charges by a semi-autonomous ground vehicle

• Main Author: Herkamp, John Frederick.
• Other Authors: Harkins, Richard
• Published: Monterey, California. Naval Postgraduate School 2012
• Online Access: http://hdl.handle.net/10945/3432

Neutralization of remotely operated Improvised Explosive Devices (IEDs) is a dangerous task risking human lives on a daily basis. BigFoot seeks to replace the local human component by deploying and remotely detonating shaped charges to destroy IEDs. This research developed a platform that can autonomously navigate GPS waypoints, avoid obstacles, and provide remote user controls for an onboard robotic arm to deploy and remotely detonate shaped charges. BigFoot incorporates improved communication range over previous Autonomous Ground Vehicles and an updated user interface that includes controls for the arm and camera by interfacing multiple microprocessors. BigFoot is capable of avoiding static and mobile obstacles as well handling most surfaces with minor slopes. BigFoot continues to be somewhat limited by communications range and GPS availability. However, BigFoot is an ideal platform for relatively short range deployment to neutralize roadside IEDs.