The mobile robot surrogate method for developing autonomy

Author

Masliah, Maurice R. ; Albrecht, Robert W.

Author_Institution

Washington Univ., Seattle, WA, USA

Volume

14

Issue

2

fYear

1998

fDate

4/1/1998 12:00:00 AM

Firstpage

314

Lastpage

320

Abstract

The mobile robot surrogate (MRS) method, as a means for developing autonomy in complex systems, is presented. Used to analyze and interpret sonar data for landmark identification and navigation, this method involves: 1) putting a human operator within a telerobotic loop; 2) studying the capabilities and limitations of the operator for different tasks; 3) using protocol analysis to extract the knowledge from the operator into an expert system; 4) substituting the expert system for the operator within the robotic loop. A central aspect of the MRS methodology is that the operator, through the telerobotic interface, is limited to the same sensor information as the robot. The strength of this methodology is shown through the development of door identification and door traversal performances by an autonomous mobile robot using ultrasonic data

Keywords

control engineering computing; intelligent control; knowledge acquisition; mobile robots; sonar; ultrasonic measurement; MRS method; complex systems; door identification; door traversal; expert system; human operator; knowledge extraction; landmark identification; mobile robot surrogate method; navigation; protocol analysis; robotic loop; sonar data; telerobotic interface; telerobotic loop; ultrasonic data; Data mining; Expert systems; Friction; Humans; Mobile robots; Protocols; Robot sensing systems; Sonar navigation; Telerobotics; Wheels;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.681249

Filename

681249