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Proceedings Paper

Integrating obstacle avoidance, global path planning, visual cue detection, and landmark triangulation in a mobile robot
Author(s): David Kortenkamp; Marcus J. Huber; Clare Bates Congdon; Scott B. Huffman; Clint R. Bidlack; Charles J. Cohen; Frank V. Koss; Ulrich Raschke; Terry E. Weymouth
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Paper Abstract

This paper describes the design and implementation of an integrated system for combining obstacle avoidance, path planning, landmark detection and position triangulation. Such an integrated system allows the robot to move from place to place in an environment, avoiding obstacles and planning its way out of traps, while maintaining its position and orientation using distinctive landmarks. The task the robot performs is to search a 22 m X 22 m arena for 10 distinctive objects, visiting each object in turn. This same task was recently performed by a dozen different robots at a competition in which the robot described in this paper finished first.

Paper Details

Date Published: 4 May 1993
PDF: 8 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143819
Show Author Affiliations
David Kortenkamp, Univ. of Michigan (United States)
Marcus J. Huber, Univ. of Michigan (United States)
Clare Bates Congdon, Univ. of Michigan (United States)
Scott B. Huffman, Univ. of Michigan (United States)
Clint R. Bidlack, Univ. of Michigan (United States)
Charles J. Cohen, Univ. of Michigan (United States)
Frank V. Koss, Univ. of Michigan (United States)
Ulrich Raschke, Univ. of Michigan (United States)
Terry E. Weymouth, Univ. of Michigan (United States)


Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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