HT-2 is a mobile robot platform designed for autonomous car research. It is meant for researchers and developers who wish to implement the results of their research on "automobiles", or fully autonomous cars.
  • Autonomous vehicle base which operates with behavior-based robotic principles
  • Used as abased for research on highly autonomous vehicles
  • Open design both in hardware and software for smooth addition and integration of various options provided by AAI or others
  • Has basic collision avoidance capability in complex environments using both vision and ultrasonic sensors
  • User-developed behaviors written in C and other languages easily incorporated to form an integrated on-board software
  • Seamlessly and smoothly shifts from fully autonomous to fully manual operation using a joystick
  • Framework for landmark-based navigation using vision system (software option, available Q4/04)
  • Voice commands and vocal status report through voice recognition/synthesis interface (hardware/software option)
  • Data collection, monitoring, recording, and analyses by a host via video/data communication options
  • Sound vehicle base for repeated experiments in the field


Standard processor: EBX processor (Pentium III embedded PC processor board), 1GHz clock, 1GBytes DRAM
Standard sensors: Ultrasonic sensors (16), bumper sensors (4+8), encoders (2)
Behavior-based vision system: Based on Texas Instruments' TMS320C642 high speed (600 MHz clock) DSP chip. Maximum frame resolution is 720 x 480 pixels. Basic affordance processing carried out at frame rate
LCD console: 20 characters x 4 lines back-lit type
Battery: Six 8V batteries (48V)
Safety features: Emergency stop switches (2 front and 2 rear), seamless and instant manual override with a joystick, 8km/h energy absorbing front/rear bumpers with built-in collision sensors, driver-in-sear sensor, default bump behaviors, default collision-avoidance behaviors, remote kill switch (option)
User ports: Analog inputs (6), digital inputs (6), digital outputs (8), serial port (1)
Programming language: C and others including assemblers
Size: length: 239 cm (93.9 inches)
width: 120 cm (47.2 inches)
Wheelbase: 163 cm (64.3 inches)
Weight: 290 kg (638 lbs)
Maximum payload: Approx. 300 kg (660 lbs)
Ground clearance: 9.7 cm (3.8 inches)
Speed: 0 - 4 Km/h (0 - 2.5 mph), continuouslly variable. Can be increased by user. Maximum manually operated speed is 19 Km/h (12 mph). Reverse speed at 65%.
Turning radius: 2.9m (9.5 ft)
Maximum inclination: 20 degrees
Range: 20 Km (12.5 miles) maximum per full charge (flat smooth furface)
Suspension: Precision independent front strut suspension with minimal camber and toe changes. Rear suspension with coil springs and hydraulic shock absorbers.
Steering: DC motor driven rack and pinion, computer controlled
Brakes: Power regeneration by motors and self-adjusting rear drum brakes. Parking brake with automatic release.


  • Navigation system: Vision-based outdoor landmark navigation system (Q3/04)
  • DGPS system: Can maintain }0.4 meter accuracy within the range of the differential station (maximum 1~3 km (0.6~0.9 miles))
  • Evolvable hardware option: Hardware unit to evolve some of the behaviors for running the vehicle.
  • Voice I/O: A voice recognition/synthesis box capable of recognizing up to 500 utterances and can utter up to 1000 words or short sentences.
  • Also can incorporate other AAI and user options

© 2008, AAI Canada, Inc.
112 John Cavanaugh Drive, Ottawa,
Ontario, Canada K0A 1L0
TEL: +1.613.839.6161 or 1.800.895.1122 ; FAX: +1.613.839.6616
AAI Canada, Inc. provides this information as an informational tool to the public,
and is not responsible for any errors in content. All information should be verified by the reader.

General Inquiries: Contact Us
Technical Inquiries: Webmaster