Showing papers on "Mobile robot navigation published in 1971"

Robot planning, execution, and monitoring in an uncertain environment

Abstract: An intelligent robot, operating in an external environment that cannot be fully modeled in the robot's software, must be able to monitor the success of its execution of a previously generated plan. This paper outlines a unifled i ormalism for describing and relating the various functions oi a robot operating in such an environment. After exploring the distinetion between the external world and the robot's internal model of it, and the distinction between actions that interact with the world and the robot's descriptions of those actions, we formalize the concepts of a plan and of its execution. Current developments at Stanford Research Institute, and the benchmark idea oi an ultimate rational robot, are both analyzed in this framework.

Incas integrated navigation and collision avoidance system

Abstract: The Integrated Navigation and Collision Avoidance System (INCAS) is designed to improve the safety and efficiency of ship operation by increased automation of the navigation and collision avoidance functions. It is intended that the navigator's knowledge and judgment be augmented by the preprogramming of all known information relating to the selected route and by the continuous and automatic assessment of dangers represented by passing vessels and other obstacles to navigation. The system utilizes a general purpose digital computer, which operates as a central processor for the data provided by the shipboard sensors. The information resulting from this integration and computation is displayed to ship personnel in a form which is easily understandable and requires no operator manipulation or calculation; automatic alarms are also provided. The data compilation and computation, coupled with displays and alarms, restores the watch officer to his decision making role and leaves him unburdened to properly ensure the safety of his vessel. Due to system design, the central data processor may be expanded to operate with other sensors to perform additional tasks.

Implications of Systems Analysis to Inland Navigation

Abstract: The demands now placed upon inland navigation as a mode of transportation necessitates that the analyst be cognizant of the interrelationship of the system’s component parts. This pertains to navigation as a portion of the transportation system, as well as each lock, harbor and channel improvement as a component part of the system of navigation. One method by which this analysis can be accomplished is through the simulation of the navigation system. To properly conduct such a study, however, the analyst must accurately identify and represent the charateristics of the navigation system which he proposes to simulated. These characteristics must include: (1) the physical waterway itself; (2) the characteristics of the towboat industry; and (3) the waterborne commerce and towboat itineraries which are expected to utilize the waterway over the life of the project. Unless these factors are accurately represented, serious and costly errors in navigation construction could occur.

MAINS, A New Marine Navigator

Abstract: By combining the data from the radio aids with inertial data, using the central digital computers where available, navigation information of sufficient accuracy to satisfy the requirements of most missions can be obtained. The concept of using position fixes to aid and improve the performance of an inertial system has been demonstrated in manner, data received from LORAN and satellite aids with the inertial data. The Marine Aided Inertial Navigation System (MAINS) utilizes the frequent position fixes available from the aids to reduce the performance requirements and therefore the cost of the inertial unit.