Robotic follow system and method

Bruemmer, David J; Anderson, Matthew O

Robotic follow system and method

Patent · Tue May 01 04:00:00 EDT 2007

OSTI ID:909158

Bruemmer, David J ^[1]; Anderson, Matthew O ^[1]

Idaho Falls, ID

Robot platforms, methods, and computer media are disclosed. The robot platform includes perceptors, locomotors, and a system controller, which executes instructions for a robot to follow a target in its environment. The method includes receiving a target bearing and sensing whether the robot is blocked front. If the robot is blocked in front, then the robot's motion is adjusted to avoid the nearest obstacle in front. If the robot is not blocked in front, then the method senses whether the robot is blocked toward the target bearing and if so, sets the rotational direction opposite from the target bearing, and adjusts the rotational velocity and translational velocity. If the robot is not blocked toward the target bearing, then the rotational velocity is adjusted proportional to an angle of the target bearing and the translational velocity is adjusted proportional to a distance to the nearest obstacle in front.

Research Organization:: Idaho National Laboratory (INL), Idaho Falls, ID (United States)

Sponsoring Organization:: United States Department of Energy

DOE Contract Number:: AC07-05ID14517

Assignee:: Battelle Energy Alliance, LLC (Idaho Falls, ID)

Patent Number(s):: 7,211,980

Application Number:: 11/428,743

OSTI ID:: 909158

Country of Publication:: United States

Language:: English

References (8)

Shared Understanding for Collaborative Control Bruemmer, D. J.; Few, D. A.; Boring, R. L. IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, Vol. 35, Issue 4 https://doi.org/10.1109/TSMCA.2005.850599	journal	July 2005
Developing an autonomy infusion infrastructure for robotic explorationi'l Bualat, M. G.; Kunz, C. G.; Wright, A. R. 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720) https://doi.org/10.1109/AERO.2004.1367685	conference	January 2004
The Wayfarer modular navigation payload for intelligent robot infrastructure Yamauchi, Brian Defense and Security, SPIE Proceedings https://doi.org/10.1117/12.604046	conference	May 2005
ETHNOS-II: A programming environment for distributed multiple robotic systems Piaggio, M.; Sgorbissa, A.; Zaccaria, R. HICSS 32 - 32nd Annual Hawaii International Conference on System Sciences, Proceedings of the 32nd Annual Hawaii International Conference on Systems Sciences. 1999. HICSS-32. Abstracts and CD-ROM of Full Papers https://doi.org/10.1109/HICSS.1999.772834	conference	January 1999
Adaptable semi-autonomy in personal robots Laschi, C.; Teti, G.; Tamburrini, G. Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591) https://doi.org/10.1109/ROMAN.2001.981894	conference	January 2001
A HAL for Component-Based Embedded Operating Systems No authors listed 29th Annual International Computer Software and Applications Conference (COMPSAC'05) https://doi.org/10.1109/COMPSAC.2005.25	conference	January 2005
Introduction to Hardware Abstraction Layers for SoC Yoo, Sungjoo; Jerraya, Ahmed A. Embedded Software for SoC https://doi.org/10.1007/0-306-48709-8_14	book	January 2003
The CLARAty architecture for robotic autonomy Volpe, R.; Nesnas, I.; Estlin, T. 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542) https://doi.org/10.1109/AERO.2001.931701	conference	January 2001

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