TY - JOUR
T1 - DEALING WITH UNANTICIPATED EVENTS IN AUTONOMOUS NAVIGATION.
AU - Burks, B. L.
AU - Barnett, D. L.
AU - Killough, S. M.
AU - Mann, R. C.
AU - Pin, F. G.
PY - 1987
Y1 - 1987
N2 - In an earlier study the authors demonstrated expert-system control of an autonomous robot navigating in unknown environments and dealing with unexpected events such as moving obstacles. The limitations of this earlier work included insufficient onboard computing capability, restrictions on the sensor suite to only sonar transducers, and a geometrically specified goal location. Here they report improvement of their mobile robot series (currently HERMIES-IIB) to include eight NCUBE onboard processors operating in parallel, and augmentation of the sensor suite with cameras to facilitate onboard vision analysis and goal-finding. They review concisely some related research, describe HERMIES-IIB and its most important components in some detail, discuss some current research goals, and describe a proof-of-principle demonstration including some tasks HERMIES-IIB can perform. They discuss HERMIES-IIB's present limits and outline directions of future research.
AB - In an earlier study the authors demonstrated expert-system control of an autonomous robot navigating in unknown environments and dealing with unexpected events such as moving obstacles. The limitations of this earlier work included insufficient onboard computing capability, restrictions on the sensor suite to only sonar transducers, and a geometrically specified goal location. Here they report improvement of their mobile robot series (currently HERMIES-IIB) to include eight NCUBE onboard processors operating in parallel, and augmentation of the sensor suite with cameras to facilitate onboard vision analysis and goal-finding. They review concisely some related research, describe HERMIES-IIB and its most important components in some detail, discuss some current research goals, and describe a proof-of-principle demonstration including some tasks HERMIES-IIB can perform. They discuss HERMIES-IIB's present limits and outline directions of future research.
UR - http://www.scopus.com/inward/record.url?scp=0023591527&partnerID=8YFLogxK
U2 - 10.1109/cdc.1987.272801
DO - 10.1109/cdc.1987.272801
M3 - Conference article
AN - SCOPUS:0023591527
SN - 0191-2216
SP - 1808
EP - 1813
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
ER -