Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications最新文献_第7页

Asynchronous Control of Translation and Rotation in a Robot Vehicle 机器人车辆平移与旋转的异步控制

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.1989.637974

J. Crowley

引用次数: 7

Contingency-Tolerant Robot Motion Planning and Control 容错机器人运动规划与控制

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.1989.637890

Wonyun Choi, David Zhu, J. Latombe

{"title":"Contingency-Tolerant Robot Motion Planning and Control","authors":"Wonyun Choi, David Zhu, J. Latombe","doi":"10.1109/IROS.1989.637890","DOIUrl":"https://doi.org/10.1109/IROS.1989.637890","url":null,"abstract":"We address the problem of robot motion planning and control in a partially known environment. Examples of this type of environment include shop-floors, office buildings, con- stri~ctiori sites, and clean rooms. In such environments, the sh;?pcs antl the locations of the largest objects are known in ad- vance. But there are other objects whose locations are changing so often that the robot cannot realistically keep track of them. In order for a robot to operate successfully in this type of en- vironment, it must be tolerant to contingencies - i.e., it must be ablc to efliciently deal with unexpected obstacles while ex- ecu ting planned motions. A contingency-tolerant motion plan- ning and control system is presented in this paper. It combines a \"lesser-commitment\" planner with an \"intelligent\" controller. Tlic planner produces a set of paths, called a \"channel\", rather than a single path, in order to let the controller have more free- dom of clioicc. The controller exploits this freedom by applying a potential field method. We have implemented this system and expcrimcnted with it, using both a computer simulated mobile robot and a real one. Acknowledgements: This research was funded by DARPA con- tract DAAA21-89-CO002 (Army), CIS (Center for Integrated Sys- tcms), CIFE (Center for Integrated Facility Engineering), and Digital Gquipnic~it Corporation.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"48 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":"127554404","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: 20

Navigation By Correlating Geometric Sensor Data 通过关联几何传感器数据进行导航

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.1989.637942

H. Durrant-Whyte, J. Leonard

{"title":"Navigation By Correlating Geometric Sensor Data","authors":"H. Durrant-Whyte, J. Leonard","doi":"10.1109/IROS.1989.637942","DOIUrl":"https://doi.org/10.1109/IROS.1989.637942","url":null,"abstract":"A continuing problem in mobile robotics is that of achieving reliable autonomous navigation based only on information obtained from the sensors of a mobile vehicle. The basic navigation problem based on the observation of navigation beacons has been studied extensively over many hundreds of years, and is in general well-understood. The application of these techniques in robotics has faltered on the problem of reliably extracting beacons from sensor data and utilizing them in automating the navigation process. In this paper we offer a solution to the mobile robot navigation problem, which relies on the concept of a ugeneralized geometric beaconn - a feature which can be reliably observed in successive sensor measurements (a beacon), and which can be described in terms of some small number of geometric objects. This navigation algorithm is based around a simple Kalman-filter which is employed to maintain a map of these observed geometric beacons, and into which new sensor measurements can be matched. We describe three different implementations of this navigation algorithm, the first on a vehicle with only one rotating sonar, the second on a vehicle with six static sonars, and the third on a vehicle equipped with both a sonar and an active infra-red sensor. These implementations demonstrate how different geometric beacons extracted from different sensors and algorithms can be used to provide a robust and reliable estimate of mobile robot location.","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":"127664666","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: 43

Mobility And Optimal Dynamic Navigation For a Mobile Robot 移动机器人的机动性与最优动态导航

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.1989.637940

A. Khoukhi, Y. Hamam

引用次数: 4

Cognitive Collision Prediction & Path Planning Of Mobile Robots: A Qualitative Approach 移动机器人的认知碰撞预测与路径规划:一种定性方法

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.1989.637924

B. Far, Takeshi Itoh, M. Sampei, M. Nakamichi

{"title":"Cognitive Collision Prediction & Path Planning Of Mobile Robots: A Qualitative Approach","authors":"B. Far, Takeshi Itoh, M. Sampei, M. Nakamichi","doi":"10.1109/IROS.1989.637924","DOIUrl":"https://doi.org/10.1109/IROS.1989.637924","url":null,"abstract":"means of nonmonotonic temporal logic and qualitative reasoning techniques. In order t o meet the on l ine limitations, t h e method of discrete i terat ion is exploited t o produce t h e path without running the goal seeking algorithm again. The above techniques a r e implemented in a program. The paper demonstrates our approach through an example. 1. I N T R O D U C T I O N Collision prediction, coll ision avoidance and path planning problems can all be formulated in a similar way, they all begin with a given present state and some assertions on t h e goal in a defined scenario, and t h e robots a r e required t o predict t h e possible collision and decide upon the control t o achieve t h e goal o r subgoals satisfactorily. The abstract knowledge in all cases along with the spatiotemporal coordination remain the same. In t h e path planning case the concentration is on the spat ia l argument and in coll ision prediction avoidance t h e temporality is mainly concerned. Collision avoidance makes use of both. 1 1 . T h e p r o b l e m In ordcr t o sce what a r e the problems if one t r ies t o predict cvcnts in the ruturc and control them, suppose tha t the two dimensional scenario is composed of two mobile robots M I and M P with the preset goals G and G P respectively, approaching cach othcr , and the i r t ra jec tor ies intersect spat ia l ly as in Fig. 1. Each robot has a potent ia l behavior [14] in t h e lack of any o ther obstacle interrupting its t r a j e c t o r y (Fig.1-a). In case of collision only par t s of the potent ia l behavior un t i l the collision point is manifested and a f t e r tha t there is a new behavior which doesn't necessarily terminate t o the previously set goal (Fig.1-b).","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"51 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":"131724179","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

Locomotion Functions for a Mobile Robot Language 移动机器人语言的运动函数

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.1989.637956

Yutaka Kanayama, T. Noguchi

引用次数: 6

A Wire Mobile Robot with Multi-unit Structure 一种多单元结构的有线移动机器人

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.1989.637939

S. Aoshima, T. Tsujimura, T. Yabuta

引用次数: 61

Proposed Position and Heading Measurement System of Ground Vehicle Using Laser Beams 基于激光的地面车辆位置和航向测量系统

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.1989.637908

T. Tsumura, N. Komatsu

引用次数: 6

Real Time Suited Road Border Recognition Utilizing a Neural Network Technique 基于神经网络技术的实时道路边界识别

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.1989.637929

K. Kuhnert

引用次数: 4

Dynamic Biped Walking Stabilized With Optimal Trunk And Waist Motion 动态双足行走稳定与最佳的躯干和腰部运动

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.1989.637905

A. Takanishi, M. Tochizawa, H. Karaki, I. Kato

引用次数: 96