Autonomous Mobile Robots.

摘要

Since 1981 the Mobile Robot laboratory of the Robotics Institute of Carnegie-mellon University has conducted basic research in areas crucial for autonomous robots. We have built three mobile robots as testbeds for new concepts in control, vision, planning, locomotion and manipulation. This report recounts our work in 1985. Included are two papers describing two-dimensional sonar mapping and navigation, and a proposal for a three dimensional sonar. Three papers cover recent results in stereo visual navigation - we have achieved a tenfold speedup and a tenfold increase in navigational accuracy over our first generation system, and have a much deeper understanding of some of the mathematical foundations. Three papers describe results in a road navigation task - we are now able to navigate a simple road network at walking speeds with a single color camera on a roving robot using a variety of image processing and navigation methods. Three papers describe aspects of motion control, motors, wheeled kinematics and vehicle dynamics. Two papers present our newest robots, Neptune and Uranus. A final article gives some along term motivations and expectations for mobile robot research, and the report ends with a bibliography of our publications. (Author)