Implementation of a 3-D laser imager-based robot navigation system with location identification

Susan T. Boltinghouse; James Burke; Daniel Ho

doi:10.1117/12.25450

1 March 1991 Implementation of a 3-D laser imager-based robot navigation system with location identification

Susan T. Boltinghouse, James Burke, Daniel Ho

Proceedings Volume 1388, Mobile Robots V; (1991) https://doi.org/10.1117/12.25450
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Autonomous navigation capabilities need to be developed if mobile robots are to be used effectively in complex environments. This paper summarizes the further development and implementation of a system for model based autonomous navigation of mobile robots within complex structures. The developed system architecture addresses the complete navigation problem from high level path planning using facility data to lower level autonomous movement through uncertain local environments. A 3D laser imager is used as the primary sensor. It returns real-time detailed range and reflectance images. The system was developed for the application of navigating a mobile teleoperated robot to a remote work site in a nuclear power plant. An overhead gantry and physical models of nuclear power plant Structures are used as a testbed for 3D navigation algoritbms. Navigation architecture algorithms and test results are presented.

Citation Download Citation

Susan T. Boltinghouse, James Burke, and Daniel Ho "Implementation of a 3-D laser imager-based robot navigation system with location identification", Proc. SPIE 1388, Mobile Robots V, (1 March 1991); https://doi.org/10.1117/12.25450

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