skip to main content
OSTI.GOV title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Robotic follow system and method

Abstract

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.

Inventors:
 [1];  [1]
  1. Idaho Falls, ID
Publication Date:
Research Org.:
Idaho National Lab. (INL), Idaho Falls, ID (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
909158
Patent Number(s):
7,211,980
Application Number:
11/428,743
Assignee:
Battelle Energy Alliance, LLC (Idaho Falls, ID) IDO
DOE Contract Number:
AC07-05ID14517
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING

Citation Formats

Bruemmer, David J, and Anderson, Matthew O. Robotic follow system and method. United States: N. p., 2007. Web.
Bruemmer, David J, & Anderson, Matthew O. Robotic follow system and method. United States.
Bruemmer, David J, and Anderson, Matthew O. Tue . "Robotic follow system and method". United States. doi:. https://www.osti.gov/servlets/purl/909158.
@article{osti_909158,
title = {Robotic follow system and method},
author = {Bruemmer, David J and Anderson, Matthew O},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue May 01 00:00:00 EDT 2007},
month = {Tue May 01 00:00:00 EDT 2007}
}

Patent:

Save / Share:
  • A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includesmore » reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.« less
  • Apparatus and methods for modifying the operation of a robotic vehicle in a real environment to emulate the operation of the robotic vehicle in a mixed reality environment include a vehicle sensing system having a communications module attached to the robotic vehicle for communicating operating parameters related to the robotic vehicle in a real environment to a simulation controller for simulating the operation of the robotic vehicle in a mixed (live, virtual and constructive) environment wherein the affects of virtual and constructive entities on the operation of the robotic vehicle (and vice versa) are simulated. These effects are communicated tomore » the vehicle sensing system which generates a modified control command for the robotic vehicle including the effects of virtual and constructive entities, causing the robot in the real environment to behave as if virtual and constructive entities existed in the real environment.« less
  • A decentralized fuzzy logic control system for one vehicle or for multiple robotic vehicles provides a way to control each vehicle to converge on a goal without collisions between vehicles or collisions with other obstacles, in the presence of noisy input measurements and a limited amount of compute-power and memory on board each robotic vehicle. The fuzzy controller demonstrates improved robustness to noise relative to an exact controller.
  • This patent describes a clamp-and-index tool for use in the replacement of old split-pin assemblies of a guide tube of a nuclear reactor by new split-pin assemblies, the old split-pin assemblies and the guide tube being radioactive and the clamp-and-index tool to operate under a pool of water. The tool includes means, to be connected to the guide tube, for suspending the guide tube in a first position in which the tube is to be processed to effect the replacement. The tool also includes a means, connected to the suspending means, for rotating the guide tube to a second positionmore » in which the tube is to be processed to effect the replacement and clamping means, connected to the suspending means and to be connected to the guide tube, for selectively clamping the guide tube in the first or second position.« less
  • This invention provides a method of operating a nuclear reactor having a negative reactivity moderator temperature coefficient with the object of maintaining a uniform and symmetric xenon distribution above and below substantially the center of the core over a substantial axial length of the core during normal reactor operation including load follow. In one embodiment variations in the xenon distribution are controlled by maintaining a substantially symmetric axial power distribution. The axial offset, which is employed as an indication of the axial power distribution, is maintained substantially equal to a target value , which is modified periodically to account formore » core burnup. A neutron absorbing element within the core coolant, or moderator, is employed to assist control of reactivity changes associated with changes in power, with the full-length control rods mainly employed to adjust variations in the axial power distribution while the part-length rodsremain completely withdrawn from the fuel region of the core. Rapid changes in reactivity are implemented, to accommodate corresponding changes in load, by a controlled reduction of the core coolant temperature. Thus, active core coolant temperature control is employed to control the reactivity of the core during load follow operation and effectively increase the spinning reserve capability of a power plant without altering the axial power distribution.« less