Development of an advanced intelligent robot navigation system

Conference · Tue Dec 31 23:00:00 EST 1991 · Transactions of the American Nuclear Society; (United States)

OSTI ID:7226578

Dai, Hai Quan; Dalton, G R; Tulenko, J; Crane, III, C C ^[1]

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1. Univ. of Florida, Gainesville (United States)

As part of the US Department of Energy's Robotics for Advanced Reactors Project, the authors are in the process of assembling an advanced intelligent robotic navigation and control system based on previous work performed on this project in the areas of computer control, database access, graphical interfaces, shared data and computations, computer vision for positions determination, and sonar-based computer navigation systems. The system will feature three levels of goals: (1) high-level system for management of lower level functions to achieve specific functional goals; (2) intermediate level of goals such as position determination, obstacle avoidance, and discovering unexpected objects; and (3) other supplementary low-level functions such as reading and recording sonar or video camera data. In its current phase, the Cybermotion K2A mobile robot is not equipped with an onboard computer system, which will be included in the final phase. By that time, the onboard system will play important roles in vision processing and in robotic control communication.

• OSTI ID: 7226578
• Report Number(s): CONF-920606--
• Journal Information: Transactions of the American Nuclear Society; (United States), Journal Name: Transactions of the American Nuclear Society; (United States) Vol. 65; ISSN TANSA; ISSN 0003-018X
• Country of Publication: United States
• Language: English

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42 ENGINEERING
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99 GENERAL AND MISCELLANEOUS
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ARTIFICIAL INTELLIGENCE
BWR TYPE REACTORS
COMMUNICATIONS
COMPUTER GRAPHICS
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COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
DATA BASE MANAGEMENT
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ENRICHED URANIUM REACTORS
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KNOWLEDGE BASE
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MATHEMATICAL LOGIC
NATIONAL ORGANIZATIONS
NAVIGATION
NAVIGATIONAL INSTRUMENTS
ON-LINE CONTROL SYSTEMS
ON-LINE SYSTEMS
ORNL
POWER REACTORS
PWR TYPE REACTORS
REACTORS
ROBOTS
THERMAL REACTORS
US AEC
US DOE
US ERDA
US ORGANIZATIONS
USES
WATER COOLED REACTORS
WATER MODERATED REACTORS