An intelligent integrated sensor system for the ORNL mobile robot

Conference · Thu Dec 31 23:00:00 EST 1987

OSTI ID:6842164

Mann, R C; Jones, J P; Beckerman, M; Glover, C W; Farkas, L; Han, J; Wacholder, E; Einstein, J R

The mobile robot prototypes developed at the ORNL Center for Engineering Systems Advanced Research (CESAR) are equipped with sonar sensors and CCD cameras that are used to support autonomous navigation and simple inspection tasks in an a priori unknown and unstructured dynamic environment. A laser range camera is being added to the sensor suite of HERMIES III, a mobile robot that is currently being built. This paper summarizes work directed at extracting information from data collected with these sensors and integrating it, in order to produce reliable descriptions of the robot's environment. Specifically, the paper describes the integration of two-dimensional vision and sonar range information. All operations are carried out on-board the mobile robot using a 16-processor hypercube computer. 14 refs., 2 figs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6842164
• Report Number(s): CONF-880899-1; CESAR-88/48; ON: DE88015554
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200* -- Engineering-- Facilities
Equipment
& Techniques
99 GENERAL AND MISCELLANEOUS
990210 -- Supercomputers-- (1987-1989)
ARTIFICIAL INTELLIGENCE
CAMERAS
COMPUTERIZED CONTROL SYSTEMS
COMPUTERS
CONTROL SYSTEMS
HYPERCUBE COMPUTERS
NAVIGATION
ROBOTS
TELEVISION CAMERAS
VISION