Real time explosive hazard information sensing, processing, and communication for autonomous operation

Versteeg, Roelof J; Few, Douglas A; Kinoshita, Robert A; Johnson, Doug; Linda, Ondrej

Real time explosive hazard information sensing, processing, and communication for autonomous operation

Patent · Tue Feb 24 04:00:00 EST 2015

OSTI ID:1170732

Versteeg, Roelof J; Few, Douglas A; Kinoshita, Robert A; Johnson, Doug; Linda, Ondrej

Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

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Research Organization:: Idaho National Laboratory (INL), Idaho Falls, ID (United States)

Sponsoring Organization:: USDOE

DOE Contract Number:: AC07-05ID14517

Assignee:: Battelle Energy Alliance, LLC (Idaho Falls, ID)

Patent Number(s):: 8,965,578

Application Number:: 13/049,788

OSTI ID:: 1170732

Country of Publication:: United States

Language:: English

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