Field Results for Tactical Mobile Robot Missions

摘要

In 1999, Georgia Tech conducted two field experiments to determine the performance of its missionrnspecification system. The experiments were developed for the DARPA Tactical Mobile Robotics (TMR)rnProgram and were conducted at Fort Sam Houston, Texas. The goal of the TMR Program is to developrnrobotic tools that can perform useful tasks on future military missions involving complex obstaclernnegotiation, autonomous indoor navigation, and robust machine perception for urban environments.rnAs a part of the program, Georgia Tech has been developing fault-tolerant multi-robot behaviors and a reusable mission-specification/user-interface system.rnPioneer-AT robots were integrated with vision and sonar sensors, infrared proximity sensors, andrndifferential global positioning system (DGPS) to achieve the goals of approaching and conducting anrninterior search of a hospital. The emphasis of these particular experiments was the practicalrnimplementation of schema-based behavioral control with the mission specification system whenrndesigned with the novice user in mind. This paper details the results obtained and lessons learnedrnduring those preliminary field trials.