Showing papers on "Mobile robot navigation published in 1984"

Determining the position of a robot using a single calibration object

Abstract: A procedure for determining the position uniquely, of a mobile robot in a three-dimensional space is presented. The method consists of viewing a single sphere with horizontal and vertical calibration great circles and computing distance and elevation and azimuth angles with respect to the sphere. The method is simple and provides good results as long as the sphere is projected onto a large portion of the image plane. Results using simulated and actual data are presented.

Control system for mobile robot

Abstract: A control system for a mobile robot includes operation means for calculating an instantaneous position of the robot, storage means for sequentially storing data representative of the respective robot positions, means for studying and storing a rangewhich the robot is to travel, and means for calculating a running pattern of the robot in the specific range. The robot is allowed to travel thrpughly in the range without leaving any region non-travelled, while checking its own position.

Algorithm of navigation for a mobile robot

Abstract: This study describes the theoretical and practical aspects of the design and computer simulation of a heuristic based navigation algorithm. An algorithm is developed which provides a convenient testing system for generalized navigation strategies on a fixed map which may be known or unknown to a system. A variety of maps are simulated and the navigation results are compared.

Robot Vision Using A Projection Method

Abstract: A dramatic increase in the use of industrial robots is expected in the United States within this decade. This increase increase will require robot vision systems so that the machines can respond and adapt to their environment, i.e., be intelligent. These advances can lead to new methods for use in flexible manufacturing systems and automated factories. The purpose of this paper is to describe a technique for three dimensional robot vision using a single projected image. The method involves automatic location of projected vertex points to determine the three dimensional surface characteristics of an object. The method is robust enough to permit measurement of featureless curved objects. Examples are given which demonstrate the simplicity of the technique. The significance of this method is that it is simple enough for use in robot control or inspection applications.

Problems In Three-Dimensional Imaging

Abstract: The addition of vision or three-dimensional imagery to a robot significantly enhances its capabilities to perform not only well-defined tasks, but new tasks as well -- tasks that could not be done by a "blind" robot. At the next level, the robot would have a capability of acquiring, processing and analyzing a three-dimensional image of a "real" scene. This paper presents several alternate ways that such three-dimensional imagery can be acquired and represented. Some emphasis will be placed on one approach -- the use of laser radar to obtain range data. However, the primary objective in this paper is to identify and discuss the major problems associated with the acquisition and effective use of this type of imagery, especially in robot vision applications.

Electronic information and navigation system for traffic

Abstract: A device code 40 and stores cartographic data and general information relating to an area. A storage apparatus 41 transfers after payment, on the storage media 1. A vehicle apparatus 2 receives storage media, selects a route and provides driving guidance for guiding the vehicle on the route, and general information correlated with the remarkable points of the route followed.

COSMOS: A Total Programming System for Integrated Intelligent Robot

Abstract: 本論文は, 知能ロボット研究用に開発したプログラミングシステムCOSMOSについて述べたものである.COSMOSは, Cognitive Sensor Motor Operations Studyの略称である.高水準のロボット言語, ロボットアームとそのコントローラ, 3次元視覚機能敏感な触覚センサ, および, ユーザインターフェイスより構成される.ホストのミニコンピュータとマイクロコンピュータはGPIBで結合され, 基本ロボットコマンドによって交信している.システムは階層構造をとっており, ハードウエア, ソフトウエアともにモジュール化および拡張性が重視された設計になっている.逐次, 人工知能の手法を組み込んでゆくため, システムのソフトウエアの主な部分はLispで記述されている.本論文ではロボット言語AL/L (Assembly Language in Lisp) とその環境モデル管理システム, ロボットソフトウエアの構成およびタブレットを用いた教示システムについて述べる.ロボット言語の処理系では, 環境モデルの管理が重要な役割を占めていることが明らかになった.また, システムを用いた実験を通して, タブレットが教示用デバイスとして優れていること, およびCOSMOSのロボットプログラミングシステムとしての有効性が確認された.

An Integrated Robot Vision System for Industrial Use

Abstract: The use of industrial robots is a well established method for increasing flexibility and the degree of automization in manufacturing industry. Nevertheless, the ilsage of robots is often limited by the need for special peripheral equipment. Conventional sensors enable a robot to "feel" the workpiece and tools, but it is only first when the robot is provided with vision that it can identify and localize objects. The described robot vision system is completely integrated with the robot control system, thus resulting in lower costs for engineering design, installation,commissioning,operation and maintenance while increasing the system's reliability. It uses the same method for man-machine communication as the robot system does and can be utilized by the workshop personnel. It is adapted to industrial lighting intensity, which means that special lighting arrangements are not required.

An Accuracy Test Procedure for Robotic Manipulators Utilizing a Vision based, 3-D Position Sensing System

Abstract: A vision based, three dimensional position sensing system was constructed and used to measure the positioning accuracy of an articulated robot arm. With a twenty-five millimeter lens, the sensor achieved a sensitivity of 0.004 inches for measurements along the focal axis of the camera and 0.001 inches for measurements perpendicular to the focal axis. The system was used to optically define a reference frame in the robot workspace and then to check the positioning accuracy of the manipulator as it was instructed to move within this reference frame.

Sensor‐based obstruction avoidance technique for a mobile robot

Abstract: This article describes a sensor-based obstruction avoidance technique. This technique, if implemented on the on-board computer of a mobile robot, would enable the robot to move through an unknown environment. The proposed approach is driven by sensory data. The robot thus senses and adapts to the changes in the environment. The software also does path planning. As more information about the environment is obtained the robot's path planning capabilities improve. Illustrative examples are used to describe the algorithms.

Computation Simulation Of Autonomous Vehicle Navigation

Abstract: A concept of navigation is simulated based upon heuristic search. A mobile robot with a vision system navigates with an unknown or an unclear map. The range of vision is limited, thus, inflicting various judgments concerned with the comparison of alternatives of motion. The frequency of the decision-making procedure is limited by a definite time of computation. The system is simulated with a number of maps and the results of navigation are compared.

Intelligent robots. Proceedings of the Third International Conference on Robot Vision and Sensory Controls RoViSeC3, Cambridge, MA, November 7-10, 1983. Parts 1 and 2

Abstract: Aspects of pattern recognition for intelligent robots are discussed, taking into account linear algebra based object recognition algorithms for computer vision, planar object recognition by the computer vision method, real time textured-image segmentation based on noncausal Markovian random field models, model driven vision to control a surface finishing robot, robotic acquisition of jumbled parts from bins by visual and tactile guidance, and imaging using eddy current sensors. Other subjects explored are related to curved object recognition for robot vision, robot image understanding, robot applications, three-dimensional measurements for robot vision, robot vision, tactile and multirobot sensors, and precision robot vision measurements. Attention is given to mode locked lasers in modulation rangefinders, advanced architectures for factory vision, hierarchical contour coding and generalization of shape, problems in three-dimensional imaging, a vision system to identify car body types for a spray painting robot, and an adaptive gas metal arc welder.

Mobile robot with transformable crawler and intelligent guidance

Abstract: Recently, great advances have been made in intelligent mobile robot technology, advances which will provide autonomous travelling ability to robots, allowing them to surmount stairs and other obstacles. In this paper, we present an active adaptive crawler mechanism and a visual navigating system, developed to achieve practical speed for industrial use of the mobile robot. By using a crawler-type mechanism, the active adaptive suspension mechanism maintains vehicle stability and achieves good climbing capability without increasing weight. Further, we have developed technology for an intelligent navigating mechanism, to guide the robot as it passes through a building. Once the robot is provided with an inner layout plan of the respective building, it can achieve practical mobile speed for industrial use.

A practical solution using a new approach to robot vision

Abstract: Up to now, robot vision systems have been designed to serve both application development and operational needs in inspection, assembly and material handling. This universal approach to robot vision is too costly for many practical applications. A new industrial vision system separates the function of application program development from on-line operation.A Vision Development System (YDS) is equipped with facilities designed to simplify and accelerate the application program development process. A complimentary but lower cost Target Application System (TASK) runs the application program developed with the YDS.This concept is presented in the context of an actual robot vision application that improves inspection and assembly for a manufacturer of electronic terminal keyboards.Applications developed with a YDS experience lower development cost when compared with conventional vision systems. Since the TASK processor is not burdened with development tools, it can be installed at a lower cost than comparable "universal" vision systems that are intended to be used for both development and on-line operation.The YDS/TASK approach opens more industrial applications to robot vision that previously were not practical because of the high cost of vision systems.Although robot vision is a new technology, it has been applied successfully to a variety of industrial needs in inspection, manufacturing, and material handling. New developments in robot vision technology are creating practical, cost effective solutions for a variety of industrial needs.A year or two ago, researchers and robot manufacturers interested in implementing a robot vision application could take one of two approaches. The first approach was to purchase all the necessary vision components from various sources. That meant buying an image processor from one company, a camera from another and lens and light sources from yet others. The user then had to assemble the pieces, and in most instances he had to write all of his own software to test, analyze and process the vision application.The second and most common approach was to contract with the vision equipment vendor for the development and installation of a turnkey inspection or manufacturing system. The robot user and his company paid a premium for their vision system in an effort to assure the success of the system.Since 1981, emphasis on robotics has skyrocketed. New groups have been formed in many manufacturing companies with the charter to learn about, test and initially apply new robot and automation technologies. Machine vision is one of new technologies being tested and applied. This focused interest has created a need for a robot vision system that makes it easy for manufacturing engineers to learn about, test, and implement a robot vision application. A newly developed vision system addresses those needs.Vision Development System (YDS) is a complete hardware and software product for the development and testing of robot vision applications. A complimentary, low cost Target Application System (TASK) runs the application program developed with the YDS. An actual robot vision application that demonstrates inspection and pre-assembly for keyboard manufacturing is used to illustrate the YDS/TASK approach.The four key steps to successful application development and implementation are explored:1. Define the application requirements2. Match the applicaton requirements to the vision system3. Develop the application software4. Integrate and install the systemMachine vision simplifies keyboard manufacturingA hypothetical company manufactures computer terminal keyboards. Keycaps for the keyboards are made by a plastic molding company. The molding company manually inspects the caps on a sampling basis. The keycaps are bagged in batches of 500 pieces and shipped to the manufacturer. The keyboard manufacturer randomly inspects the incoming keycaps at receiving in an effort to detect bad batches before the components are used in manufacturing. The incoming inspection uncovers 90% of the defective components. However, it requires six full time inspectors.

Research and development of industrial robot systems in Europe

Abstract: Results of current research and development activities in the fields of robot kinematics, robot control, and robot programming languages are presented by way of examples Furthermore, an overview of future research programs in the area of robot integration into the CIM-system is given

Integrated Navigation Systems - Where Are We Headed?

Abstract: : The relentless penetration of technology and the explosion of information collecting and processing systems is rapidly becoming a challenge to users of modern navigation techniques. The most positive outlook is that development of new and improved integrated and synergistic navigation systems will result to take advantage of the common objective of all navigation systems -- accurate and quick determination of ship position. This paper traces briefly the rapid growth of technology and the information revolution. Navigation in the past -- and even now -- has involved paper charts, coupled with celestial and visual methods. Currently, we are experiencing growing capabilities to figure navigation problems quickly using hand-held calculators, portable computers, and to position ourselves worldwide with such systems as Omega and the Global Positioning System. To cope with excessive information overload, there is a need to integrate into a simple system changing status of events affecting ship operations using such diverse data elements as weather, fuel consumption rate, ship position and track, display of essential chart features, and Notice to Mariners changes. The integrated navigation system, a subsystem in a comprehensive ship control system, will have to be capable of allowing the mariner to selectively handle the data mass available. The objective of the paper is to stimulate discussion in actual and conceptual approaches to integrated navigation systems. (Author)