Title :
Optimal wall pose determination in a shared-memory multi-tasking control architecture
Author :
Dekhil, Mohamed ; Henderson, Thomas C.
Author_Institution :
Dept. of Comput. Sci., Utah Univ., Salt Lake City, UT, USA
Abstract :
In previous work, we (1996) proposed a new technique for the recovery of planar surfaces using two beam-spread sonar readings. In this paper, we present an implementation of this technique in a wall-following algorithm using two sonar readings. This program is used as a client in a sensor-based distributed control scheme for mobile robots
Keywords :
access protocols; client-server systems; distributed control; mobile robots; navigation; path planning; shared memory systems; sonar; LABMATE; communication protocol; distributed control; mobile robots; navigation; obstacle detection; shared-memory multi-tasking control; two beam-spread sonar; wall pose determination; wall-following algorithm; Cameras; Computer architecture; Control systems; Mobile robots; Optimal control; Robot control; Robot sensing systems; Robot vision systems; Sensor systems; Sonar detection;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-3700-X
DOI :
10.1109/MFI.1996.572310
