Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications最新文献_第6页

Recognition Of 3-dimensional Environment For A Mobile Robot Using Structured Light 基于结构光的移动机器人三维环境识别

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.1989.637885

S. J. Lee, M. Chung

引用次数: 1

Development Of Positioning Systems For Autonomous Robots On Construction Sites 建筑工地自主机器人定位系统的研究

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.1989.637898

J. Salagnac

{"title":"Development Of Positioning Systems For Autonomous Robots On Construction Sites","authors":"J. Salagnac","doi":"10.1109/IROS.1989.637898","DOIUrl":"https://doi.org/10.1109/IROS.1989.637898","url":null,"abstract":"Construction is a potential field of applications for autonomous robots. For some years, experimental mobile robots have been developed, mainly in Japan, to perform various construction tasks. Our laboratory has developed, with french partners, the first european autonomous mobile robot for finishing work in buildings named \"SOFFITO\" , Autonomous manipulators are also on the way 1-0 ho dovclopod an well as oxcilvators or asacmbly manipulators for walls erection for instance. All these applications require at least one reliable real time positioning system. This point is essential and special efforts must be made to develop economical positioning systems. The characteristics of these positioning systems depend mainly on the application considered : the measurement range, the speed and acceleration of the robot, the outdoor conditions vary greatly from one application to the other. From our experience, we consider that this complex problem can be solved under laboratory conditions by many existing systems including stereo vision and other sophisticated techniques. As far as construction site conditions are considered and the economical constraints are taken into account, nearly none of these existing solutions is suitable. Our approach is to consider together the construction process and the autonomous robot system. The advantage is that the complex pozitioning problem cnri ho split. in two pilrt.~ : - one is transfered to the construction process, whore special equipmcnts participdtirig in the positioning can be integrated with non significant extra-cost regarding to nowaday construction techniques ;","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":"130094758","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: 1

A Blackboard System To Assist Telerobotic Task 辅助远程机器人任务的黑板系统

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.1989.637960

Mireille Arnoux, Marie-Claude Thomas

{"title":"A Blackboard System To Assist Telerobotic Task","authors":"Mireille Arnoux, Marie-Claude Thomas","doi":"10.1109/IROS.1989.637960","DOIUrl":"https://doi.org/10.1109/IROS.1989.637960","url":null,"abstract":"The topic of this paper is on the computer aided teleoperation and, in the long range, on the autonomous robotics. It describes an experimental system the aim of which is to assist a human operator looking after a robotized task. The cooperation of various knowledge sources is visualized on a graphic screen. This screen practically becomes a representation of a blackboard. The blackboard architecture is defined as a globally accessible database which is shared by the knowledge sources and it contains a partial solution at each time of its utilization . Some applications for robotics have been proposed, especially with the scheduling of expert modules: planning module, image analysis, sensory data fusion. In the application we are studying, the database is composed of concurent objects and a partial solution is to be understood as an intermediate state of the task carrying-out. The knowledge sources are attached to the model of the objects they are concerned with. From the teleoperation point of view, the operator can read and write the defined \"objects\". The objects representing robotics devices and their environment are easy to read and allow him to situate his intervention. It must be emphasized that this view above the execution space is extended with meta-knowledge : the running plan, the function of the current action (execution, monitoring, automatic recovery, natural mode) . To achieve this, an instrumental panel, a window for the plan in progress, and other windows for switching beetween modes (planning, master, slave, emergency) are added to the central scene of the real or simulate task.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"2 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":"123703753","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: 2

Local Path Planning And Motion Control For Agv In Positioning Agv定位中的局部路径规划与运动控制

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.1989.637936

A. Takahashi, T. Hongo, Y. Ninomiya, G. Sugimoto

引用次数: 69

Active Suspension Four-wheel Model For A Terrain Robot 地形机器人主动悬架四轮模型

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.1989.637938

K. Tanie, Nobumasa Shirai

引用次数: 10

A General Structure for Mobile Robot Action Control 移动机器人动作控制的通用结构

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.1989.637957

F. Noreils, R. Chatila

引用次数: 19

A Potential Approach For A Point Mobile Robot On An Implicit Potential Field Without The Generation Of Local Minima 隐式势场上不产生局部极小值的点移动机器人势法

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.1989.637889

H. Noborio, S. Wazumi, S. Fukuda, S. Arimoto

{"title":"A Potential Approach For A Point Mobile Robot On An Implicit Potential Field Without The Generation Of Local Minima","authors":"H. Noborio, S. Wazumi, S. Fukuda, S. Arimoto","doi":"10.1109/IROS.1989.637889","DOIUrl":"https://doi.org/10.1109/IROS.1989.637889","url":null,"abstract":"A number of potential approaches have been presented to move a mobile robot at a given goal p oint after the point r obot is placed on an arbitrary point in the workspace. In general, they control the robot according to a force generated from a potential field wiLh an rxplicit function. To arrivr thr robot at thr goal poinL certainly, Lhc approach must prepare a potential field without any local minimum except for the global minimum at the goal point in the workspace. With respect to the calculation time, however, it is difficult for us to represent the potential field by any explicit function. From this point of view, we propose a type of the approach to define a force field by an i mplicit function, which is similar to a potential field. In this approach, we require no calculation time for selecting and transforming the function so as not to have any local minimum. As a result, the proposed approach is superior to previous potential approaches since it moves the robot at the goal p oint surely without hard p re-processing for e xplicit construction of the potential field.","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":"130846477","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: 9

Visual Navigation System for a Mobile Robot 移动机器人视觉导航系统

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.1989.637963

K. Onoguchi, Mutsumi Watanabe, Y. Okamoto, H. Asada

{"title":"Visual Navigation System for a Mobile Robot","authors":"K. Onoguchi, Mutsumi Watanabe, Y. Okamoto, H. Asada","doi":"10.1109/IROS.1989.637963","DOIUrl":"https://doi.org/10.1109/IROS.1989.637963","url":null,"abstract":"This paper p r e s e n t s a v i s u a l n a v i g a t i o n system f o r a r o b o t working i n a n u c l e a r power p l a n t . Such a system should have two f u n c t i o n s . One i s t o p r o v i d e a rough environment map o r d i r e c t i o n s towards a g o a l , such a s t u r n i n g l e f t a t t h e second c o r n e r . The o t h e r is t o a v o i d o b s t a c l e s and t o f i n d a passage f o r a cont inuous movement o f t h e r o b o t . The o p e r a t i o n of t h e system is d i v i d e d i n t o two s t a g e s . I n t h e f i r s t s t a g e , a MIL(mu1ti-information l o c a l ) map d e s c r i b i n g t h e s e v e r a l in format ion necessary f o r a s e l f l o c a t i o n measurement i s c r e a t e d i n t e r a c t i v e l y from s t e r e o images c o l l e c t e d d u r i n g remote-cont ro l led n a v i g a t i o n . The second s t a g e i s autonomous n a v i g a t i o n . The r o b o t moves autonomously by u s i n g t h e map w i t h t h e a i d of t h e second f u n c t i o n of t h e system. The system c o n s i s t s of f i v e subsystems : an environment t e a c h i n g subsystem, a s e l f l o c a t i o n measurement subsystem, an o b s t a c l e d e t e c t i o n subsystem, a p a t h p l a n n i n g subsystem, and a p a t h fo l lowing subsystem. The environment t e a c h i n g subsystem c r e a t e s an environment map: t h e s e l f l o c a t i o n measurement subsystem g i v e s t h e l o c a t i o n o f t h e r o b o t by comparing t h e i n p u t image and t h e map i n f o r m a t i o n . The o t h e r t h r e e subsystems s u p p o r t autonomous n a v i g a t i o n . The system h a s been implemented on a mobile r o b o t . Exper imenta l r e s u l t s have shown t h e u s e f u l n e s s of t h e proposed system.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"2012 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":"133705491","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

Navigation Strategies For Multiple Autonomous Mobile Robots Moving In Formation 多自主移动机器人编队移动的导航策略

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.1989.637948

P. K. Wang

引用次数: 449

Methods for Identifying Footfall Positions for a Legged Robot 有腿机器人足部位置识别方法

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.1989.637914

C. Caillas, M. Hebert, E. Krotkov, In-So Kweon, T. Kanade

引用次数: 16