Application of mobile robot localization using sonar
A sonar-based mobile robot has been developed for inspection of low-level radioactive waste drums. An algorithm was developed which gives the robot the ability to refence itself to cylindrical objects. The drum-following algorithm has been demonstrated in 4-ft drum aisles at the Mobile Robotics Laboratory at the University of South Carolina. The final version has proven to be robust through extensive long-term navigation tests. Future enhancements will employ a narrow-aisle version of the Nav-master to allow navigation in 3-ft drum aisles. The final version of the inspection robot will include the drum-navigation algorithm as a low-level primitive instruction. The onboard management system will be dedicated to more of the high-level functions, such as planning, now provided by the offboard supervisory system.
- OSTI ID:
- 76118
- Report Number(s):
- CONF-940602--
- Journal Information:
- Transactions of the American Nuclear Society, Journal Name: Transactions of the American Nuclear Society Vol. 70; ISSN 0003-018X; ISSN TANSAO
- Country of Publication:
- United States
- Language:
- English
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