Accession Number : ADA294480
Title : Integration of an Image Hardware/Software System into Autonomous Robot.
Descriptive Note : Master's thesis,
Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA
Personal Author(s) : Kisor, John C.
PDF Url : ADA294480
Report Date : MAR 1995
Pagination or Media Count : 79
Abstract : The major problem addressed by this research is how to integrate an image understanding subsystem into an autonomous mobile robot so that the robot will be self-contained and independent of any Unix workstation for extracting image information. The resulting image understanding subsystem should be a part of the total intelligent autonomous robot and should provide functionality that will allow the robot to determine its position and that of obstacles in a partially known environment. The image understanding subsystem should be fully integrated with existing motion control and sonar software. The approach taken was to develop software to capture images that uses a VME bus to interface with a standard image manager. The software was written to provide a clean interface between the image grabber hardware and the robots existing Model-based Mobile Robot Language. By maintaining functionality similar to that provided in previous image understanding software, the changes needed to incorporate previous research software is kept to a minimum. The result is a autonomous robot that can capture images using a standard image manager, display those images and then convert them to a format needed by existing image understanding software to extract information for position determination or avoid obstacles. The image understanding software uses only the computing power it has available on-board the robot. This gives the robot the capability to extract image information about its environment and remain autonomous and self-contained.
Descriptors : *COMPUTER PROGRAMS, *ROBOTS, *INTEGRATION, *SYSTEMS APPROACH, SOFTWARE ENGINEERING, INTERFACES, MOTION, THESES, PROBLEM SOLVING, POSITION FINDING, SELF CONTAINED, MOBILE, IMAGES, INFORMATION RETRIEVAL, SELF OPERATION, WORK STATIONS, SUPERVISORS, AUTONOMOUS NAVIGATION, COMPUTER VISION, SONAR.
Subject Categories : Computer Programming and Software
Distribution Statement : APPROVED FOR PUBLIC RELEASE