22 July 1999 Intelligent navigation and multivehicle coordination
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Abstract
The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University's Center for Self-Organizing and Intelligent Systems have developed a team of autonomous robotic vehicles. This paper discusses the development of a strategy that uses a sophisticated, highly intelligent sensor platform to allow centralized coordination between smaller and inexpensive robots. The three components of the multi-agent cooperative scheme are small-scale robots, large-scale robots, and the central control station running a mission and path- planning software. The smaller robots are used for activities where the probability of loss increases, such as Unexploded Ordnance (UXO) or mine detonation. The research is aimed at building simple, inexpensive multi-agent vehicles and an intelligent navigation and multi-vehicle coordination system suitable for UXO, environmental remediation or mine detection. These simplified robots are capable of conducting hunting missions using low-cost positioning sensors and intelligent algorithms. Additionally, a larger sensor-rich intelligent system capable of transporting smaller units to outlying remote sites has been developed. The larger system interfaces to the central control station and provides navigation assistance to multiple low-cost vehicles. Finally, mission and path-planning software serves as the operator control unit, allowing central data collection, map creation and tracking, and an interface to the larger system as well as each smaller unit. The power of this scheme is the ability to scale to the appropriate level for the complexity of the mission.
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Mark D. McKay, Mark D. McKay, Matthew O. Anderson, Matthew O. Anderson, Robert A. Kinoshita, Robert A. Kinoshita, Nicholas S. Flann, Nicholas S. Flann, "Intelligent navigation and multivehicle coordination", Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); doi: 10.1117/12.354452; https://doi.org/10.1117/12.354452
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