Vision-based position measurement system for indoor mobile robots

Journal Article · Sat Dec 31 00:00:00 EST 1994 · Transactions of the American Nuclear Society

OSTI ID:75913

Schreiber, M J; Dickerson, S

This paper discusses a stand-alone position measurement system for mobile nuclear waste management robots traveling in warehouses. The task is to provide two-dimensional position information to help the automated guided vehicle (AGV) guide itself along the aisle`s centerline and mark the location of defective barrels containing low-level radiation. The AGV is 0.91 m wide and must travel along straight aisles 1.12 m wide and up to 36 m long. Radioactive testing limits the AGV`s speed to 25 mm/s. The design objectives focus on cost, power consumption, accuracy, and robustness.

• OSTI ID: 75913
• Report Number(s): CONF-940602-; ISSN 0003-018X; TRN: 95:003867-0084
• Journal Information: Transactions of the American Nuclear Society, Vol. 70; Conference: 35. annual meeting of the American Nuclear Society, New Orleans, LA (United States), 11-16 Jun 1994; Other Information: PBD: 1994
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES
ROBOTS
PERFORMANCE
ACCURACY
CAMERAS
REMOTE HANDLING EQUIPMENT
RADIOACTIVE MATERIALS
VISION