Integrated mobile-robot design-Winning the AAAI 1992 robot competition

Author

Kortenkamp, David ; Huber, Marcus ; Cohen, Charles ; Raschke, Ulrich ; Bidlack, Clint ; Congdon, Clare Bates ; Koss, Frank ; Weymouth, Terry

Author_Institution

Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA

Volume

8

Issue

4

fYear

1993

fDate

8/1/1993 12:00:00 AM

Firstpage

61

Lastpage

73

Abstract

The Carmel project (computer-aided robotics for maintenance, emergency, and life support) which won the AAAI 1992 Robot Competition, is discussed. Carmel´s design philosophy and architecture, obstacle avoidance, global path planning, vision sensing, landmark triangulation, and supervisory planning system are described. The Carmel project shows that mobile robots can perform carefully chosen tasks reliably and efficiently, although this requires extensive integration of components and a solid engineering effort

Keywords

computer vision; mobile robots; path planning; Carmel project; computer-aided robotics; global path planning; landmark triangulation; life support; mobile robots; obstacle avoidance; supervisory planning system; vision sensing; Cameras; Couplings; Data structures; Mobile robots; Robot motion; Robot sensing systems; Robot vision systems; Sonar detection; Tail; Wheels;

fLanguage

English

Journal_Title

IEEE Expert

Publisher

ieee

ISSN

0885-9000

Type

jour

DOI

10.1109/64.223992

Filename

223992