Our primary test and demonstration vehicle is a modified Yamaha Grizzly ATV. The autonomous navigation system can be operated remotely, or the top and side panels can be removed to reveal a seat and handlebars for a driver. The Grizzly is equipped with police flashers, a siren, and a loudspeaker which are also integrated into the autonomous system. Our main sensors are two Sick laser range detectors for obstacle detection and an Applanix INS/GPS system for vehicle localization.
Designed for Terrascout, this robot is a Toro Workman electric utility vehicle. The computing equipment runs off the vehicle's batteries, which provide up to three hours of continuous driving on a single charge. It has the same sensing equipment as on the Grizzly.
Yogi is a Yamaha golf cart modified to carry a large computer enclosure and a sensor mount. It has an Applanix system and two Sick lasers, like the other vehicles, but due to its size both lasers are mounted on the front. It is equipped with a drive-by-wire controller, but its primary function for Terrascout is as a test-bed for sensing.