Intelligent security assessment for a mobile sentry robot
ROBART II is a battery powered autonomous robot being used by the Naval Ocean systems Center in San Diego as a testbed in research which seeks to provide a multi-sensor detection, verification, and intelligent assessment capability for a mobile security robot. The intent is to produce a robust automated system that exhibits a high probability of detection with the ability to distinguish between actual and nuisance alarms. An architecture of nine distributed microprocessors onboard the robot makes possible advanced control strategies and realtime data acquisition. Higher level tasks (map generation, path planning, position estimation, obstacle avoidance and statistical security assessment) are addressed by a Planner (currently a remote 80386-based desktop computer). Numerous sensors are incorporated into the system to yield appropriate information for use in position estimation, collision avoidance, navigational planning, and assessing terrain traversability.
- Research Organization:
- Naval Ocean Systems Center, San Diego, CA (US)
- OSTI ID:
- 6328565
- Report Number(s):
- CONF-880631-
- Journal Information:
- Nucl. Mater. Manage. Annu. Meet. Proc.; (United States), Journal Name: Nucl. Mater. Manage. Annu. Meet. Proc.; (United States) Vol. 17; ISSN NUMMB
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
Inspection
& Accountability-- Technical Aspects
98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL PROTECTION
99 GENERAL AND MISCELLANEOUS
990210 -- Supercomputers-- (1987-1989)
ALARM SYSTEMS
AUTOMATION
COMPUTER CODES
DATA ACQUISITION SYSTEMS
EVALUATION
INTRUSION DETECTION SYSTEMS
PERFORMANCE
PLANNING
REAL TIME SYSTEMS
ROBOTS
SECURITY
VERIFICATION