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

{"title":"Obstacle Avoidance of a Mobile Robot wittr Multiple Sensors","authors":"H. Takahashi, T. Morita, Y. Maruya, A. Okuno","doi":"10.1109/IROS.1989.637955","DOIUrl":"https://doi.org/10.1109/IROS.1989.637955","url":null,"abstract":"This paper describes a local navigation strategy for obstacle avoidance of autonomous mobile robots. Primarily a vision sensor was employed to navigate the robot, and ultrasonic sensors were used to avoid collision when a robot neared obstacles. Instead of building a local map. the heading angle and speed of the robot was determined from the image and range data by use of approximate reasoning during every feedback ('on t rol cyr 1 c . The si~ccrss fu 1 i mpl emtntiit i or1 of the concept is shown with some cxperimcntal resul ts.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"1 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":"129378504","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}

{"title":"Obstacle avoidance for a mobile robot","authors":"P. V. Turennout, E. V. Egmond, G. Honderd, W. Jongkind","doi":"10.1109/IROS.1989.637964","DOIUrl":"https://doi.org/10.1109/IROS.1989.637964","url":null,"abstract":"Obstacle Avoidance for a Mobile Robot A notorious problem in mobile obstacle avoidance is the detection and avoidance of obstacles. This thesis evaluates several well-known methods for controlling the motion of a mobile robot in an unknown dynamic environment. One of these methods, the Global Dynamic Window Approach, is selected and, using a laser range finder as the only range sensor, the method is implemented and tested on a mobile robot platform, a Pioneer 2 from ActivMedia. The result showed that the method is indeed an effective way for detecting and avoiding obstacles in real-time, in out-door tests the robot has traversed obstacle courses at velocities up to 1.2 metres per second. The method however showed to have some drawbacks; and should be combined with a higher-level algorithm that directs the robot to the best path.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"29 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":"124768909","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}

{"title":"From optical flow of lines to 3D motion and structure","authors":"O. Faugeras","doi":"10.1109/IROS.1989.637973","DOIUrl":"https://doi.org/10.1109/IROS.1989.637973","url":null,"abstract":"We establish the motion equations for rigidly moving 3D lines and the structure equations that relate the optical flow of a line to its kinematic screw and 3D representation. We also show that if the time derivative of the optical flow is available, then five simple motion equations can be derived that relate the kinematic screw, the optical flow, and their time derivatives.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"11 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":"125532471","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}

{"title":"Building Robots: Expectations and Experiences","authors":"A. Flynn, R. Brooks","doi":"10.1109/IROS.1989.637913","DOIUrl":"https://doi.org/10.1109/IROS.1989.637913","url":null,"abstract":"In tlie four years that llie MU Mobile lbbot Project has been 1 General Theme at the Start in existence, we have built ten robots that focus research in various areas, aimed primarily towards discerning what is involved in building intelligent, useful autonomous creatures. Many of the preconceived notions entertained before we started turned out to be misguided, many issues we thought would be hard have worked successfully from day one, and subsystems we imagined to be trivial have become tremendous time sinks. Oddly enough, one of our biggest failures has led to many of our favorite successes. The general problem we set out to solve four and a half years ago was how to build a brain, or, to answer the question of what it would take to build something that we would consider clever. What were the essential components that would be needed to create an intelligent entity and how should those components be put together? The ideas we started with took a route that was different from the traditional thinking in Artificial Intelligence at that time. Namely, our From early meter-high, offboard-computer based robots, to sleek walking creatures, soda can collection machines and one cubic inch bugs, the MIT Mobot Line exhibits a wide variety of talents, sensing strategies and locomotion approaches. Central throughout is a common methodology for organizing the sensors, actuators and computational elements to effectively control complexity. A basic tenet is that it is important to build complete systems that exist in real world noise. This avoids the trap of building","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"45 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":"127104795","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}

{"title":"Start of Autonomous Mobile Robots Operation in Clean Room","authors":"T. Yamashita, Masanao Murata, M. Onishi, Hidemitsu Tabata","doi":"10.1109/IROS.1989.637951","DOIUrl":"https://doi.org/10.1109/IROS.1989.637951","url":null,"abstract":"We have developed autonomous mobile robots which requires no guide lines. The mobile robot can individually searches for the optimum route to its destination by comparing the builtin map with the measured data obtained from ultrasonic sensors to reach the destination at last. It is equipped with a five-axis vertical articulated type providing the handling accuracy of +1 mm through visual compensation. The autonomous mobile robots, being made clean in the structure basis such as the use of DD motors, are now started to be actually used as transfer robots in clean rooms.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"99 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":"129552961","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}

{"title":"Circulation Maps: A Resource For Identifying Position Accuracy","authors":"D. Payton","doi":"10.1109/IROS.1989.637943","DOIUrl":"https://doi.org/10.1109/IROS.1989.637943","url":null,"abstract":"This paper presents a technique for determining the mission and location-dependent importance of accurate position knowledge for an autonomous mobile robot. We show how map data may be analyzed in the context of any given mission to yield a new map which indicates differences in the sensitivity of action choices to position errors. The identification of these differences provides a vnluable resource for focusing the attention of available localization pmesses.","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":"121068846","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}

{"title":"Study On Mobile Robot Navigation Control By Internal And External Sensor Data With Ultrasonic Sensor","authors":"M. Takano, S. Odaka, T. Tsukishima, K. Sasaki","doi":"10.1109/IROS.1989.637944","DOIUrl":"https://doi.org/10.1109/IROS.1989.637944","url":null,"abstract":"A new method to combine internal and external sensor information for stable navigation of an autonomous land vehicle is presented. Usually, vehicle's relative position to its environment is available only at some time interval, because of low sampling rate of the sensor such as vision or ultrasonic sen- sor. Also, summation of wheel rotation is not reliable for position estimation due to wheel slippage. The presented method is an iterative method to minimize the estimation error by using both internal and external sensor information. Mechanical parameters of the vehicle such as tread, effective wheel diameter and slip ratio are also estimated together with position and orientation. This paper deals with a vehicle equipped with an ultrasonic range sen- sor as an external sensor. First, a. general principle of navigation using internal and extemal sensor is described. Secondly, simula- tion and experimental results are presented and evaluated. Both results show that the presented method is useful for guiding an autonomous land vehicle along a desired trajectory.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"45 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":"122388221","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}

{"title":"Collision-Free Path Planning in Time-Varying Environments","authors":"R. Jarvis","doi":"10.1109/IROS.1989.637893","DOIUrl":"https://doi.org/10.1109/IROS.1989.637893","url":null,"abstract":"","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"31 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":"114286374","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}

{"title":"An Example Of Autonomous Vehicle Control","authors":"D. Keirsey","doi":"10.1109/IROS.1989.637930","DOIUrl":"https://doi.org/10.1109/IROS.1989.637930","url":null,"abstract":"An autonomous mobile robot must be constantly involved in the processing of large amounts of data in order to produce meaningful actions. The ability of a control architecture to support this immense processing task in a timely manner is significantly affected by the organization of information pathways within the architecture. Based on lessons learned from our experience with a hierarchical architecture for autonomous cross-country navigation (Daily et al 1987) (Keirsey, Payton, Rosenblatt 1988), we have adopted a different approach which emphasizes the minimization of information loss both within and between system layers. We will illustrate our approach by presenting an design of an control architecture for an autonomous vehicle tasked to perform road reconnaissance.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"25 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":"117348364","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}

{"title":"Cooperation Between Stereo-vision And A Token Tracker Process For The 3d Vision Of A Mobile Robot","authors":"Hao Nhien Pham, Jean-Noel Soulier, Roland Pesty, P. Stelmaszyk, A. Chéhikian, J. Crowley","doi":"10.1109/IROS.1989.637903","DOIUrl":"https://doi.org/10.1109/IROS.1989.637903","url":null,"abstract":"We present a 3D vision sensor for a mobile robot. The sensor builds a description of the environment based on 3d vertical straight line segments. It operates as a cooperation between a stereovision process and a token tracking process. A full matching process is performed at the initialization step. Then the token tracker allows to maintain the same matches that were established previously. The sensor has only to find out matches on the new tokens lhat were detected. We use a procedure based on the dynamic programming to find out these new matches. This procedure takes advantage of the already existing matches to perform this task rapidly. 1- IntrodA mobile robot has to construct a description of its environment €or the navigation task. This description has to be built continuously and should not enforce the robot to stop during this task. We present a 3D stereo-based sensor that will be on board of a mobile robot used for surveillance of industrial sites. It constructs a description of the environment based on 3d vertical straight line segments. The restriction to vertical straight lines is reasonable in the sense that the sensor will be used only for the navigation task. We aim to reduce the complexity and to increase the speed of the algorithms. Indeed (i) the amount of segments to be processed is reduced, (ii) the verticality hypothesis drastically simplifies the algorithms. Anyway, the poor description of the environment will be fused with depth informations provided by the sonar sensors. -171 The functioning of the sensor is based on the combination of two processes : a stereo matching process and a token tracking process. The stereo matching process is useful for the 3D reconstruction. It embodies the actual 3D capability of the sensor. The token tracking process deals with the image changes due to the robot motion. The main problem for the stereo matching process comes from the socalled stereo - c or r e s p o n de nc e problem. Robustness is often paid by a very time consuming matching process. The basic idea of the sensor described in this paper is to take advantage of the token tracking process to aid the stereo process. It relies on the previous detected correspondences to rapidly compute those of the current image stereo pair.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"52 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":"116934277","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}