Open AccessProceedings Article
The CMU rover
Hans P. Moravec
- pp 377-380
Reads0
Chats0
TLDR
An advanced camera-equipped mobile robot is being built at the CMU Robotics Institute to support research in control, perception, planning and related issues.Abstract:
An advanced camera-equipped mobile robot is being built at the CMU Robotics Institute to support research in control, perception, planning and related issues. It will be used initially to continue and extend visual navigation work (the Cart Project) completed in 1981 at Stanford's Al Lab. but is designed with mechanical, sensor and controller flexibility which should permit it to support a wide variety of other efforts.read more
Citations
More filters
Journal ArticleDOI
Navigation for an intelligent mobile robot
TL;DR: A learning technique is described in which the robot develops a global model and a network of places, which is useful for navigation in a finite, pre-learned domain such as a house, office, or factory.
Proceedings ArticleDOI
Path Relaxation: Path Planning for a Mobile Robot
Charles E. Thorpe,Larry Matthies +1 more
TL;DR: This paper presents Path Relaxation, a method of planning safe paths around obstacles for mobile robots that allows an explicit tradeoff among length of path, clearance away from obstacles, and distance traveled through unmapped areas.
Journal ArticleDOI
Robot navigation in unknown terrains using learned visibility graphs. Part I: The disjoint convex obstacle case
TL;DR: An algorithm is presented to navigate a robot in an unexplored terrain that is arbitrarily populated with disjoint convex polygonal obstacles in the plane and it is proven to yield a convergent solution to each path of traversal.
Journal ArticleDOI
Motion control analysis of a mobile robot
Johann Borenstein,Yoram Koren +1 more
TL;DR: In this paper, a computer-controlled vehicle that is part of a mobile nursing robot system is described, which applies a motion control strategy that attempts to avoid slippage and min imize position errors.
Proceedings Article
Path relaxation: path planning for a mobile robot
TL;DR: Path Relaxation as mentioned in this paper is a method of planning safe paths around obstacles for mobile robots, which works in two steps: a global grid search that finds a rough path, followed by a local relaxation step that adjusts each node on the path to lower the overall path cost.
References
More filters
Book
Obstacle avoidance and navigation in the real world by a seeing robot rover
TL;DR: The Stanford AI Lab cart as discussed by the authors is a card-table sized mobile robot controlled remotely through a radio link, and equipped with a TV camera and transmitter equipped with an onboard TV system.
A system for extracting 3-dimensional measurements from a stereo pair of TV cameras
Y. Yakimovsky,R. Cunningham +1 more
TL;DR: A system that models and calibrates the cameras and pairs the two images of a real-world point in two pictures, either manually or automatically, was implemented at JPL and provides three-dimensional measurement resolution of ± 5 mm at distances of about 2 m.
Journal ArticleDOI
A system for extracting three-dimensional measurements from a stereo pair of TV cameras
Y. Yakimovsky,R. Cunningham +1 more
TL;DR: In this paper, a system which models and calibrates the cameras and pairs the two images of a real-world point in the two pictures, either manually or automatically, was implemented.