DocumentCode
1340017
Title
Sensor-based control of AGVs
Author
Brady, Michael ; Durrant-Whyte, Hugh ; Hu, Huosheng ; Leonard, John ; Probert, Penelope ; Rao, B.S.Y.
Author_Institution
Oxford Univ., UK
Volume
1
Issue
2
fYear
1990
fDate
3/1/1990 12:00:00 AM
Firstpage
64
Lastpage
70
Abstract
Summarises work on a number of related sensor-guided mobile robot projects at Oxford University. Two fundamental problems are discussed: navigation and obstacle avoidance. Beacons are central to navigation. Implemented systems are described that make different assumptions about the environment and use different beacons. An implemented system is also described that can sense and avoid obstacles on the fly, without stopping. It is based on a layered architecture. A fully decentralised Kalman filter has been applied to a number of sensor integration tasks, including, tracking an object visually as it moves around a room
Keywords
automatic guided vehicles; computer vision; mobile robots; AGVs; Oxford University; beacons; decentralised Kalman filter; environment; layered architecture; moving object; navigation; obstacle avoidance; on the fly; sensor integration tasks; sensor-based control; sensor-guided mobile robot projects; visual tracking;
fLanguage
English
Journal_Title
Computing & Control Engineering Journal
Publisher
iet
ISSN
0956-3385
Type
jour
Filename
84388
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