Accession Number : ADA195299

Title :   Survey of Collision Avoidance and Ranging Sensors for Mobile Robots.

Descriptive Note : Technical rept. Nov 86-Nov 87,

Corporate Author : NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA

Personal Author(s) : Everett, H R

PDF Url : ADA195299

Report Date : Mar 1988

Pagination or Media Count : 95

Abstract : The past few years have brought a tremendous rise in the envisioned potential of robotic systems, and a correspondingly significant increase in the number of proposed applications. In the nonindustrial arena, numerous programs have evolved, each intending to harness some of this promise in hopes of solving some particular application need. Most of these efforts are government-sponsored, aimed at the development of systems for fighting fires, handling ammunition, transporting materials, conducting underwater search and inspection operations, and patrolling warehouses and storage areas, to name but a few. Many of the resulting prototypes, which were initially perceived as logical extensions of the traditional industrial robotic scenarios, have met with unexpected difficulty due to an insufficient supporting technology base. This document is intended to provide some basic background on the various noncontact distance measurement techniques available, with related discussion of their implementation in the acoustical, optical, and electromagnetic portions of the energy spectrum. An overview of candidate systems, both commercially available and under development, is provided, followed by a brief summary of interesting research currently underway in support of the collision avoidance and noncontact ranging needs of a mobile robot. Keywords: Optical proximity sensors; Retroreflectors; Stereopsis.

Descriptors :   *COLLISION AVOIDANCE, *OPTICAL DETECTORS, *ROBOTS, AMMUNITION, BACKGROUND, ENERGY, FIRE FIGHTING, HANDLING, INDUSTRIES, INSPECTION, MEASUREMENT, METHODOLOGY, MOBILE, PATROLLING, PROXIMITY DEVICES, RANGE(DISTANCE), RETROREFLECTORS, ROBOTICS, SCENARIOS, SEARCHING, SPECTRA, STEREOSCOPES, STORAGE, SURVEYS, UNDERWATER, VISION, WAREHOUSES, STEREOSCOPIC RANGE FINDING

Subject Categories : Machinery and Tools

Distribution Statement : APPROVED FOR PUBLIC RELEASE