A demonstration of autonomous navigation and machine vision using the HERMIES-IIB robot

Conference · Thu Jan 01 04:00:00 EST 1987

OSTI ID:5814582

Burks, B L; Barnett, D L; Jones, J P; Killough, S M

In this paper, advances to our mobile robot series (currently HERMIES-IIB) to include 8 NCUBE processors on-board, (computationally equivalent to 8 Vax 11/780's) operating in parallel, and augmentation of the sensor suite with cameras to facilitate on-board vision analysis and goal finding are described. The essential capabilities of the expert system described in earlier papers have been ported to the on-board HERMIES-IIB computers thereby eliminating off-board computation. A successful experiment is described in which a robot is placed in an initial arbitrary location without prior specification of the room contents, successfully discovers and navigates around stationary and moving obstacles, picks up and moves small obstacles, searches for a control panel, and reads the meters found on the panel. 19 refs., 5 figs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5814582
• Report Number(s): CONF-8710195-1; ON: DE88002298
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990210 -- Supercomputers-- (1987-1989)
COMPUTER ARCHITECTURE
COMPUTERS
EQUIPMENT
EXPERT SYSTEMS
IBM COMPUTERS
KNOWLEDGE BASE
PARALLEL PROCESSING
PROGRAMMING
REMOTE SENSING
REMOTE VIEWING EQUIPMENT
RESEARCH PROGRAMS
ROBOTS