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

Conference · Thu Jan 01 00:00:00 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
• Resource Relation: Conference: Southeastern Regional Media Leadership Council conference on microcomputers and artificial intelligence in communication technologies, Chattanooga, TN, USA, 29 Oct 1987; Other Information: Portions of this document are illegible in microfiche products
• Country of Publication: United States
• Language: English

Related Subjects

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