Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications最新文献_第2页

A New Collision Detection Algorithm Using Octree Models 基于八叉树模型的碰撞检测新算法

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637892

G. Garcia, J. L. Corre

引用次数: 6

Dynamic Vision Systems for Autonomous Mobile Robots 自主移动机器人的动态视觉系统

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637882

V. Graefe

引用次数: 78

Collision Avoidance Among Multiple Robots Using Virtual Impedance 基于虚拟阻抗的多机器人避碰

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637947

T. Arai, H. Ogata, Takayasu Suzuki

引用次数: 89

Searching Unknown Environment By A Mobile Robot Using Range Sensor --an Algorithm and Experiment 基于距离传感器的移动机器人搜索未知环境——一种算法与实验

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637886

J. Iijima, Shun'ichi Asaka, S. Yuta

{"title":"Searching Unknown Environment By A Mobile Robot Using Range Sensor --an Algorithm and Experiment","authors":"J. Iijima, Shun'ichi Asaka, S. Yuta","doi":"10.1109/IROS.1989.637886","DOIUrl":"https://doi.org/10.1109/IROS.1989.637886","url":null,"abstract":"This paper presents an efficient algorithm for a autonomous mobile robot to construct a two dimensional world model consists of straight line segments, using the robot's range sensor and a suitable observation sequence planned by itself. Since the environment is observed locally at any point, global geometric model (map) will be generated incrementally. In this procedure the robot observes the environment iteratively and constructs the environment map using the all sensory information of the previous observations which has been obtained up to the current observation. Then, it finds the next suitable position in the area which is recognized safe in the constructing map and move to it until to complete the map construction. To demonstrate the process of the map construction using the proposed algorithm, a range sensor with a CCD video camera and a simulator based on the real mobile robot called Yamabico M, which has been developed by the authors' group, are introduced. The range sensor yields the boundary information around the robot as a set of line segments. In order to make this information, the range sensor takes 10 images around the robot at every 36 degrees and detects the boundary between the floor and the walls in each image, then the detected boundaries in the images are mapped onto the floor surface. The experimental results indicates that the proposed algorithm works well and efficiently in the real environment considering the sensory and control errors.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122270991","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 15

KDM-I System- An Autonomous Mobile Robot System KDM-I系统——自主移动机器人系统

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637953

Li Sheng, X. Tang, L. Zhou, Z. Shu, H. Hu, H. G. He

{"title":"KDM-I System- An Autonomous Mobile Robot System","authors":"Li Sheng, X. Tang, L. Zhou, Z. Shu, H. Hu, H. G. He","doi":"10.1109/IROS.1989.637953","DOIUrl":"https://doi.org/10.1109/IROS.1989.637953","url":null,"abstract":"Focusing primari iy on system architecture, this paper describes the current status of a truly mobile robot, the KDM-1, in our Laboratory. Fully self-contained and equipped with a single vision, low Level sensors, such as ultrasonic, and an odometer, the KDM-1 is capable of performing several functions including detcting and avoiding obstacles, road-following along a preplamed global path, and if necessary, reptanning the global path according to the sensor information, and i t can be remotecontrolled by human operator. The controller, a multi-processor computer which consisting of five microprocessors organized in a distributed hierarchical structure, is the core of the KDM-1, It controls a1 1 ; inc l and imp Rea of S tocomation, actuatian and physical sensing, interacts with a stationed computer host or human operator by radio communication to ement varying degrees of autonomy. -time operation is one of the main features he controller . nsor fusion is another feature of the simple rule utilizing the position information to control the KDM-1 to follow the central Line of the road in the road-following mode. Five ultrasonic range finders are used to detect the area before the robot for obstacles. This infornation ensures that the robot travels only where i t is permitted and where i t is able. Finally in this paper, we present the results of our experiments, and our future research goals.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130327162","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design And Implementation Of A Trajectory Generator For An Indoor Mobile Robot 室内移动机器人轨迹发生器的设计与实现

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637934

R. Liscano, D. Green

{"title":"Design And Implementation Of A Trajectory Generator For An Indoor Mobile Robot","authors":"R. Liscano, D. Green","doi":"10.1109/IROS.1989.637934","DOIUrl":"https://doi.org/10.1109/IROS.1989.637934","url":null,"abstract":"The objective of this paper is to describe a method for computing the trajectory motion for an indoor mobile robot so that the path transcribed by the robot from a start point past some intermediate points and to the goal point is continuous and predictable. The route that the platform is to take is defined by a series straight line paths between sequential points in space, connected by circular paths at the junction of two lines. Whenever possible, the radius of the circular transition path is that which allows the platform to keep the same desired linear speed defined for the straight line portions of the trajectory. The method described uses three points to calculate the platform's trajectory. They are, the present platform's position, the intermediate point and the end point. The straight line path, defined by the present and the intermediate point, is connected by a clothoid spiral to the circular arc in between the two straight lines. The clothoid curve is the platform's path at the time it is accelerating towards a constant angular speed, which is characterized by a circular arc curve. Similarly another clothoid curve connects the end of the arc to the straight line path defined by the intermediate point and the end point. This paper concentrates on the computation of the transitional path (clothoid) between the straight line path and the circular arc that occurs because the platform has a finite angular acceleration. This paper also outlines how this routine has been integrated within a hierarchical control system for a mobile platform. 'Ihc tnijcclory generator and thc mobile plat fonii coiilrollcr nrn under Harmony', a real-time multiprocessing operating system designed for robot control.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122845725","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 28

Personal Transfer Supporting Equipmrnt For The Handicapped 残疾人个人转移辅助设备

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637949

Y. Yao, K. Matsumoto, M. Maekawa, M. Ikushima

引用次数: 2

Steering Panning Coordination In Stereotyped Motion 定形运动中的转向平移协调

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637901

H. Mori, M. Nakai, Hsiao-Jing Chen, Tohru Yuguchi, Shin-ichi Nakayama

{"title":"Steering Panning Coordination In Stereotyped Motion","authors":"H. Mori, M. Nakai, Hsiao-Jing Chen, Tohru Yuguchi, Shin-ichi Nakayama","doi":"10.1109/IROS.1989.637901","DOIUrl":"https://doi.org/10.1109/IROS.1989.637901","url":null,"abstract":"Problems of vision-based mobile robot are (1)How to stabilize visual images swinging right and left, up and down, in running on irregular road surface. (2) How to pan and tilt TV camera to take visual informations from environment for mobile control. To solve these problems, vision-based and sensor-based stereotyped motions are proposed and implemented on mobile robot Harunobu-4. A stereotyped motion is defined by a fixed steering control pattern of undercar- riage in coordination with a panning/tilting control pattern. Field tests were done in campus road. 1. Introductan We have been developing self contained mobile robot Harunobu-4 based on a strategy stereotyped motion by sign pattern(l,2). To move a side walk or campus, Harunobu-4 is made smaller in size than VaMoRsl31, Navlabl41 and ALVin(51 which run highway or all terrain. From size limitation Harunobu-4 equipped with a MCG8020 micro computer system including a color image frame memory of 512*512 pixels connected to a commercial TV camera of domestic use. Problems of 'l'V image based robot is as follows. (1)How to stabilize visual images swinging right and left, up and down, in running on irregular road surface. (2) How to pan and tilt TV camera, because effective vlsual field of TV camera is in the utmost 40 degrees in horizontal angle, it cannot cover the visual field necessary to drive the mobile robot. The robot has to pan and tilt the TV camera to take necessary information from environment. Some fixed pan/tilt control in coordination with steering control is desired to allocate limited imaging resource. To solve these problems, several fixed patterns of steering in coordination with panning and tilting pattern are specified.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128076940","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Map Representation, On-Line Path Planning And Navigation For A Mobile Robot In A Builiding Environment 建筑环境中移动机器人的地图表示、在线路径规划与导航

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637923

M.K. Habib, S. Yuta

引用次数: 0

Obstacle Avoidance Based On Approximate Reasoning For Mobile Robots 基于近似推理的移动机器人避障方法

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637895

A. Kato, Katsuhiro Kamikawa

引用次数: 11