Integrated mobile robotic system for environmental mapping and object localization

Christopher S. Gourley; Scott M. Thayer; Mohan M. Trivedi

doi:10.1117/12.169388

1 March 1994 Integrated mobile robotic system for environmental mapping and object localization

Christopher S. Gourley, Scott M. Thayer, Mohan M. Trivedi

Proceedings Volume 2244, Knowledge-Based Artificial Intelligence Systems in Aerospace and Industry; (1994) https://doi.org/10.1117/12.169388
Event: SPIE's International Symposium on Optical Engineering and Photonics in Aerospace Sensing, 1994, Orlando, FL, United States

Abstract

Many applications require the ability to navigate a mobile robotic platform through environments containing unknown obstacles. For example, many old nuclear reactors being decommissioned have no plans or models of the details of what is inside them. Sending humans into such unknown and hazardous environments is both costly and dangerous. Therefore, a robot that can go safely into these areas, knowing little or nothing about what it will encounter, is needed. This paper describes a system being developed that can be used either telerobotically, using graphical interfaces, or autonomously, with supervision capabilities through the interfaces. The system starts with little or no knowledge base and adds to it as it moves through the environment. The experiments described utilize a unique mobile robotic testbed including a wheeled robot integrated with ultrasonic range sensors, infrared proximity sensors, and CCD cameras controlled through VME based hardware.

Citation Download Citation

Christopher S. Gourley, Scott M. Thayer, and Mohan M. Trivedi "Integrated mobile robotic system for environmental mapping and object localization", Proc. SPIE 2244, Knowledge-Based Artificial Intelligence Systems in Aerospace and Industry, (1 March 1994); https://doi.org/10.1117/12.169388

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available