Autonomous navigation of a mobile robot using custom-designed qualitative reasoning VLSI chips and boards

Conference · Tue Jan 01 04:00:00 EST 1991

OSTI ID:5616959

Pin, F G; Pattay, R S ^[1]; Watanabe, H; Symon, J ^[2]

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1. Oak Ridge National Lab., TN (United States)
2. North Carolina Univ., Chapel Hill, NC (United States). Dept. of Computer Science

Two types of computer boards including custom-designed VLSI chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobile robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of a mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation is a-priori unknown environments is discussed. The efficiency of such schemes, which can consist of as little as a dozen qualitative rules, is illustrated in experiments involving an autonomous mobile robot navigating on the basis of very sparse inaccurate sensor data. 17 refs., 6 figs.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: DOE; USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5616959
• Report Number(s): CONF-920540-6; ON: DE92000072
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
426000 -- Engineering-- Components
Electron Devices & Circuits-- (1990-)
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ARTIFICIAL INTELLIGENCE
AUTOMATION
COMPUTER ARCHITECTURE
COMPUTERIZED CONTROL SYSTEMS
CONTROL
CONTROL EQUIPMENT
CONTROL SYSTEMS
DESIGN
ELECTRIC CONTROLLERS
ELECTRONIC CIRCUITS
EQUIPMENT
LOGIC CIRCUITS
MICROELECTRONICS
MOTION
NAVIGATION
ON-LINE CONTROL SYSTEMS
ON-LINE SYSTEMS
ROBOTS