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Proceedings Paper

Implementation of an omnidirectional robotic inspection system (ODIS)
Author(s): Kevin L. Moore; Nicholas S. Flann; Shayne C. Rich; Monte Frandsen; You Chung Chung; Jason Martin; Morgan E. Davidson; Russell Maxfield; Carl G. Wood
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Paper Abstract

Previous research has produced the T-series of omni- directional (ODV) robots, which are characterized by their use of smart wheel technology. In this paper we describe the design, implementation, and performance of the first use of ODV technology in a complete robotic system for a practical, real-world application. The system discussed is called ODIS, short for Omni-Directional Inspection System. ODIS is a man- portable mobile robotic system that can be used for autonomous or semi-autonomous inspection under vehicles in a parking area. The ODIS system can be deployed to travel through a parking area, systematically determining when a vehicle is in a parking stall and then carrying out a sweep under the vehicle, while sending streaming video back to a control station. ODIS uses three ODV wheels designed with a belt-driven steering mechanism to facilitate the low profile needed to fit underneath most vehicles. Its vetronics capabilities include eight different processors and a sensor array that includes a range-finding laser, sonar and IR sensors, and a color video camera. The ODIS planning and control architecture is characterized by a unique coupling between the vehicle-level path-tracking control system and a novel sensor-based feedback system for intelligent behavior generation. Real-life examples of ODIS's performance show the effectiveness of the system.

Paper Details

Date Published: 20 September 2001
PDF: 11 pages
Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); doi: 10.1117/12.439979
Show Author Affiliations
Kevin L. Moore, Utah State Univ. (United States)
Nicholas S. Flann, Utah State Univ. (United States)
Shayne C. Rich, Utah State Univ. (United States)
Monte Frandsen, Utah State Univ. (United States)
You Chung Chung, Utah State Univ. (United States)
Jason Martin, Utah State Univ. (United States)
Morgan E. Davidson, Utah State Univ. (United States)
Russell Maxfield, Utah State Univ. (United States)
Carl G. Wood, Utah State Univ. (United States)

Published in SPIE Proceedings Vol. 4364:
Unmanned Ground Vehicle Technology III
Grant R. Gerhart; Chuck M. Shoemaker, Editor(s)

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