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9 January 1995 Navigation, behaviors, and control modes in an autonomous vehicle
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Proceedings Volume 2352, Mobile Robots IX; (1995)
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States
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.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Eric A. Byler "Navigation, behaviors, and control modes in an autonomous vehicle", Proc. SPIE 2352, Mobile Robots IX, (9 January 1995);


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