Casualty Evacuation UGV: Self-Leveling Stretcher (2D Cutaway)

A battlefield casualty-evacuation ground robot has to cross rubble, ruts and uneven cover while keeping an injured passenger stable — a rigidly mounted stretcher would tip and roll with every dip in the ground. This 2D cutaway view drives the same six-wheel UGV around a looping cross-country path over procedurally rough terrain, computes the chassis's own pitch and roll from its four wheel-contact heights every frame, and drives four independent vertical struts to cancel that tilt so the stretcher platform stays level. A top-down map (drag to pan) shows the vehicle's route over the terrain height field; dedicated pitch (front-rear) and roll (left-right) cross-sections show the strut geometry directly; and a scrolling telemetry chart tracks platform pitch, roll and tip-over stability margin live. Toggle self-leveling off to watch the same robot with a rigidly bolted platform instead, and adjust terrain roughness, carried load and travel speed to stress the control loop.