Multi-sensor integration for autonomous robots in nuclear power plants

Conference · Sun Jan 01 00:00:00 EST 1989

OSTI ID:6126711

Mann, R C; Jones, J P; Beckerman, M; Glover, C W; Farkas, L; Bilbro, G L; Snyder, W

As part of a concerted RandD program in advanced robotics for hazardous environments, scientists and engineers at the Oak Ridge National Laboratory (ORNL) are performing research in the areas of systems integration, range-sensor-based 3-D world modeling, and multi-sensor integration. This program features a unique teaming arrangement that involves the universities of Florida, Michigan, Tennessee, and Texas; Odetics Corporation; and ORNL. This paper summarizes work directed at integrating information extracted from data collected with range sensors and CCD cameras on-board a mobile robot, in order to produce reliable descriptions of the robot's environment. Specifically, the paper describes the integration of two-dimensional vision and sonar range information, and an approach to integrate registered luminance and laser range images. All operations are carried out on-board the mobile robot using a 16-processor hypercube computer. 14 refs., 4 figs.

• Research Organization: Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6126711
• Report Number(s): CONF-890522-1; CESAR-88/57; ON: DE88017363; TRN: 89-011160
• Resource Relation: Conference: International conference on robotics and automation, Scottsdale, AZ, USA, 14 May 1989; Other Information: Portions of this document are illegible in microfiche products
• Country of Publication: United States
• Language: English

Related Subjects

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
NUCLEAR POWER PLANTS
AUTOMATION
LASERS
REMOTE HANDLING
REMOTE SENSING
REMOTE VIEWING EQUIPMENT
RESEARCH PROGRAMS
ROBOTS
SONAR
EQUIPMENT
MEASURING INSTRUMENTS
NUCLEAR FACILITIES
POWER PLANTS
RANGE FINDERS
THERMAL POWER PLANTS
210000* - Nuclear Power Plants
990210 - Supercomputers- (1987-1989)