Development of an Integrated Mobile Robot System at CMU: December 1989

摘要

This report describes progress in development of an integrated mobile robotsystem at the Robotics Institute at Carnegie Mellon University from July 1988 to December 1989. This research was sponsored by the Defense Advanced Research Projects Agency and monitored by the US Army Engineer Topographic Laboratories under contract DACA76-86-C-0019. In this program, we pursued a broad agenda of research in the development of mobile robot vehicles, focused on the NAVLAB computer-controlled van. In the period covered by this report, July 1988 to December 1989, we addressed major software issues for mobile robot vehicles: Evolution of the CODGER Blackboard and the Driving Pipeline Architecture; and Kinematic Path Planning for Wheeled Vehicles. This software is central to the New Generation System (NGS) for robot vision and navigation, which combines many independent technologies to produce an integrated mobile robot system. (kr)