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Proceedings Paper

Colorado School of Mines behavioral approach to the 1995 UGR competition
Author(s): Robin R. Murphy; William A. Hoff; John Blitch; Val Gough; Dale Hawkins; James C. Hoffman; Ramon Krosley; Torsten Lyons; Amol Mali; James MacMillan; Steven Warshawsky
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Paper Abstract

The Colorado School of Mines (CSM) entry placed fourth in the 1995 International Unmanned Ground Robotics Competition sponsored by the Association for Unmanned Vehicles (AUVS). Clementine 2, a battery powered children's jeep outfitted with a 100 MHz Pentium field computer, a camcorder, and a panning ultrasonic range finder served as the platform. The objectives of the CSM team were to gain familiarity with the CSM architecture by applying it to a well defined problem, evaluate existing computer vision based road following techniques, and gain practical experience in using multiple sensing modalities. The entry used the behavioral portion of the CSM hybrid deliberative/reactive architecture, which divided robot activities into four strategic and tactical behaviors: vision based follow-path, ultrasonic based avoid-obstacle, pan-camera, and speed-control using inclinometers. This paper details the motivation behind the CSM entry, the approach taken, and lessons learned.

Paper Details

Date Published: 27 December 1995
PDF: 8 pages
Proc. SPIE 2591, Mobile Robots X, (27 December 1995); doi: 10.1117/12.228978
Show Author Affiliations
Robin R. Murphy, Colorado School of Mines (United States)
William A. Hoff, Colorado School of Mines (United States)
John Blitch, Colorado School of Mines (United States)
Val Gough, Colorado School of Mines (United States)
Dale Hawkins, Colorado School of Mines (United States)
James C. Hoffman, Colorado School of Mines (United States)
Ramon Krosley, Colorado School of Mines (United States)
Torsten Lyons, Colorado School of Mines (United States)
Amol Mali, Colorado School of Mines (United States)
James MacMillan, Colorado School of Mines (United States)
Steven Warshawsky, Colorado School of Mines (United States)


Published in SPIE Proceedings Vol. 2591:
Mobile Robots X
William J. Wolfe; Chase H. Kenyon, Editor(s)

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