Title :
Omnibot mobile base for hazardous environment
Author :
Houshangi, Nasser ; Lippitt, Tom
Author_Institution :
Dept. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
The objective of the project is to develop a highly manoeuvrable mobile base suitable for operation in a hazardous environment. The base utilizes Omni wheels whose unique motion properties allow for three complete degrees of freedom: two translation degrees and one rotational. Phase I of the project, construction of the Omnibot mobile base is already complete. The mobile base provided the testbed for going into phase II of the project. The main emphasis is to incorporate a vision system, and hazardous gas detectors to the mobile base. The Omnibot mobile system consists of two main components: the mobile base and the command base. Issues concerning the mobile base and the command base design and implementation for phase II are detailed.
Keywords :
gas sensors; mobile robots; robot vision; Omni wheels; Omnibot mobile base; command base; hazardous environment; hazardous gas detectors; highly manoeuvrable mobile base; unique motion properties; vision system; Communication system control; Gas detectors; Hazardous materials; Machine vision; Mobile robots; Personnel; Robot sensing systems; Robot vision systems; Testing; Wheels;
Conference_Titel :
Electrical and Computer Engineering, 1999 IEEE Canadian Conference on
Conference_Location :
Edmonton, Alberta, Canada
Print_ISBN :
0-7803-5579-2
DOI :
10.1109/CCECE.1999.804891
