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Proceedings Paper

Navigation, behaviors, and control modes in an autonomous vehicle
Author(s): Eric A. Byler
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Paper Abstract

An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at Department of Energy sites. A 2D space of control modes was used that provides a combined view of reactive and planning approaches wherein a 2D situation space is defined by dimensions representing the predictability of the agent's task environment and the constraint imposed by its goals. In this sense selection of appropriate systems for planning, navigation, and control depends on the problem at hand. The IMSS vehicle navigation system is based on a combination of feature based motion, landmark sightings, and an a priori logical map of the mockup storage facility. Motion for the inspection activities are composed of different interactions of several available control modes, several obstacle avoidance modes, and several feature identification modes. Features used to drive these behaviors are both visual and acoustic.

Paper Details

Date Published: 9 January 1995
PDF: 10 pages
Proc. SPIE 2352, Mobile Robots IX, (9 January 1995); doi: 10.1117/12.198961
Show Author Affiliations
Eric A. Byler, Martin Marietta Astronautics Group (United States)

Published in SPIE Proceedings Vol. 2352:
Mobile Robots IX
William J. Wolfe; Wendell H. Chun, Editor(s)

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