ROBART II: an intelligent security robot. Professional paper for June 1987
ROBART II is a battery-powered autonomous sentry robot used by the Naval Ocean Systems Center in San Diego as a testbed in the research areas of environmental modeling and intelligent security assessment. An architecture of nine distributed microprocessors makes possible advanced control strategies and real-time data acquisition capability. Higher level functionality (map generation, path planning, position estimation, obstacle avoidance and statistical security assessment) is currently implemented by the Planner on an IBM-PC/AT computer, using a radio link for communication with the Scheduler. Numerous sensors are incorporated into the system to yield appropriate information for use in collision avoidance, navigational planning, environmental awareness, assessing terrain traversability, and performing security-related functions. Two separate drive motors provide for differential steering, allowing the robot to turn in place in order to maneuver in congested indoor environments. The entire unit is housed in a rugged plastic and fiberglass body, measuring 17 inches wide and 23 inches long at the base, and extending to a height of 50 inches. Special internal-circuitry checkpoints are analyzed by self-diagnostic software, and operator assistance is requested if necessary through speech synthesis.
- Research Organization:
- Naval Ocean Systems Center, San Diego, CA (USA)
- OSTI ID:
- 6930335
- Report Number(s):
- AD-A-191906/7/XAB
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
990210* -- Supercomputers-- (1987-1989)
990300 -- Information Handling
ARTIFICIAL INTELLIGENCE
AVOIDANCE
BEHAVIOR
COMPUTERS
CONTROL
CONTROL SYSTEMS
DATA ACQUISITION
DATA PROCESSING
DISTRIBUTED DATA PROCESSING
ELECTRONIC CIRCUITS
FIBERGLASS
MATERIALS
MATHEMATICS
MICROELECTRONIC CIRCUITS
MICROPROCESSORS
MOTORS
NAVIGATION
PETROCHEMICALS
PETROLEUM PRODUCTS
PLANNING
PLASTICS
PROCESSING
ROBOTS
SECURITY
SPEECH
STATISTICS
SYNTHESIS
SYNTHETIC MATERIALS