Title :
DEMO 89-the initial experiment with the HERMIES-III robot
Author :
Reister, D.B. ; Jones, J.P. ; Butler, P.E. ; Beckerman, M. ; Sweeney, F.J.
Author_Institution :
Oak Ridge Nat. Lab., TN, USA
Abstract :
HERMIES-III is a large mobile robot designed for human-scale experiments. The initial experiment with the robot (DEMO 89) was the cleanup of a simulated chemical spill. To perform the experiment, the robot was required to plan a path through an already known world, navigate along the path (avoiding unexpected obstacles), and locate and remove debris from a target area. A description is given of the software system that was developed to perform the experiment. The software system consisted of 19 processes that operated on a distributed set of heterogeneous computers
Keywords :
computerised materials handling; mobile robots; navigation; planning (artificial intelligence); DEMO 89; HERMIES-III; chemical spill cleanup; debris removal; materials handling; mobile robot; navigation; path planning; software system; Charge-coupled image sensors; Chemicals; Floppy disks; Hardware; Humans; Laboratories; Mobile robots; Read-write memory; Robot sensing systems; Robotics and automation;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132013
