20 September 2001 Implementation of an omnidirectional robotic inspection system (ODIS)
Author Affiliations +
Abstract
Previous research has produced the T-series of omni- directional (ODV) robots, which are characterized by their use of smart wheel technology. In this paper we describe the design, implementation, and performance of the first use of ODV technology in a complete robotic system for a practical, real-world application. The system discussed is called ODIS, short for Omni-Directional Inspection System. ODIS is a man- portable mobile robotic system that can be used for autonomous or semi-autonomous inspection under vehicles in a parking area. The ODIS system can be deployed to travel through a parking area, systematically determining when a vehicle is in a parking stall and then carrying out a sweep under the vehicle, while sending streaming video back to a control station. ODIS uses three ODV wheels designed with a belt-driven steering mechanism to facilitate the low profile needed to fit underneath most vehicles. Its vetronics capabilities include eight different processors and a sensor array that includes a range-finding laser, sonar and IR sensors, and a color video camera. The ODIS planning and control architecture is characterized by a unique coupling between the vehicle-level path-tracking control system and a novel sensor-based feedback system for intelligent behavior generation. Real-life examples of ODIS's performance show the effectiveness of the system.
© (2001) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Kevin L. Moore, Nicholas S. Flann, Shayne C. Rich, Monte Frandsen, You Chung Chung, Jason Martin, Morgan E. Davidson, Russell Maxfield, Carl G. Wood, "Implementation of an omnidirectional robotic inspection system (ODIS)", Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); doi: 10.1117/12.439979; https://doi.org/10.1117/12.439979
PROCEEDINGS
11 PAGES


SHARE
RELATED CONTENT


Back to Top