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Proceedings Paper

Navigational referencing techniques for real-world environments
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Paper Abstract

The most significant challenge encountered in the implementation of the MDARS Interior security robot system has involved navigational referencing -- the ongoing process of determining a mobile robot's position relative to a specified global frame of reference. Sensors and processing used in local navigation (determining position relative to objects in the environment and not colliding with them en route) can also support global navigation in a mapped environment. The task involves not only detecting and localizing features in the robot's environment, but also establishing with some confidence that these features are in fact specific features that appear in the world model. This perceptual function is one that humans do easily and instinctively, while robotic capabilities in this regard are rudimentary at best. This paper discusses a number of candidate approaches to navigational referencing applicable to indoor operating environments in terms of relevant evaluation criteria (including performance, cost, and generality of applicability), and describes how the experience of phased testing in real-world environments has driven the evolution of the MDARS system design.

Paper Details

Date Published: 27 December 1995
PDF: 12 pages
Proc. SPIE 2591, Mobile Robots X, (27 December 1995); doi: 10.1117/12.228986
Show Author Affiliations
Hobart R. Everett, Naval Command, Control and Ocean Surveillance Ctr. (United States)
Douglas W. Gage, Naval Command, Control and Ocean Surveillance Ctr. (United States)


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

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