Autonomous mobile robot navigation and learning

Author

Weisbin, C.R. ; de Saussure, G. ; Einstein, J.R. ; Pin, F.G. ; Heer, E.

Author_Institution

Oak Ridge Nat. Lab., TN, USA

Volume

22

Issue

6

fYear

1989

fDate

6/1/1989 12:00:00 AM

Firstpage

29

Lastpage

35

Abstract

Research focused on the development and experimental validation of intelligent control techniques for autonomous mobile robots able to plan and perform a variety of assigned tasks in unstructured environments is presented. In particular, an autonomous mobile robot, HERMIES-IIB intelligence experiment series, is described. It is a self-powered, wheel-driven platform containing an onboard 16-node Ncube hypercube parallel processor interfaced to effectors and sensors through a VME-based system containing a Motorola 68020 processor, a phased sonar array, dual manipulator arms, and multiple cameras. Research on navigation and learning is examined.<>

Keywords

automatic guided vehicles; computer vision; computerised navigation; learning systems; mobile robots; parallel processing; 16-node Ncube hypercube parallel processor; HERMIES-IIB; VME-based system; autonomous mobile robots; dual manipulator arms; exploration sensor-based reasoning; intelligent control techniques; learning; multiple cameras; navigation; phased sonar array; unstructured environments; wheel-driven platform; Hypercubes; Intelligent control; Intelligent robots; Intelligent sensors; Manipulators; Mobile robots; Phased arrays; Sensor arrays; Sensor systems; Sonar navigation;

fLanguage

English

Journal_Title

Computer

Publisher

ieee

ISSN

0018-9162

Type

jour

DOI

10.1109/2.30718

Filename

30718