THIS PAPER DESCRIBES A HARDWARE AND CONTROL ARCHITECTURE OF AN AUTONOMOUS MOBILE ROBOT DESIGNED FOR SERVICE TASKS SUCH AS FLOOR CLEANING AND SURVEILLANCE. THE GOAL OF THE RESEARCH HAS BEEN TO ACHIEVE LEVELS OF AUTONOMY APPROACHING THAT OF A HUMAN SCALE. THE PROTOTYPE HAS UNDERGONE THREE YEARS OF REAL WORLD FIELD EVALUATIONS TO VALIDATE THE CONTROL CONCEPTS. NOVEL FEATURES OF THE ARCHITECTURE INCLUDE A ROTATING, MULTI-FREQUENCY SONAR REMOTE SENSING ARRAY, A PATH PLANNING ALGORITHM WHICH DOES NOT RELY ON APRIORI DATA, AND A DISTRIBUTED CONTROL SYSTEM.
| Number of Pages : | 11 |
| Published : | 06/01/1991 |
