Title :
Integrated mobile-robot design-Winning the AAAI 1992 robot competition
Author :
Kortenkamp, David ; Huber, Marcus ; Cohen, Charles ; Raschke, Ulrich ; Bidlack, Clint ; Congdon, Clare Bates ; Koss, Frank ; Weymouth, Terry
Author_Institution :
Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
fDate :
8/1/1993 12:00:00 AM
Abstract :
The Carmel project (computer-aided robotics for maintenance, emergency, and life support) which won the AAAI 1992 Robot Competition, is discussed. Carmel´s design philosophy and architecture, obstacle avoidance, global path planning, vision sensing, landmark triangulation, and supervisory planning system are described. The Carmel project shows that mobile robots can perform carefully chosen tasks reliably and efficiently, although this requires extensive integration of components and a solid engineering effort
Keywords :
computer vision; mobile robots; path planning; Carmel project; computer-aided robotics; global path planning; landmark triangulation; life support; mobile robots; obstacle avoidance; supervisory planning system; vision sensing; Cameras; Couplings; Data structures; Mobile robots; Robot motion; Robot sensing systems; Robot vision systems; Sonar detection; Tail; Wheels;
Journal_Title :
IEEE Expert
