Control/Learning Architectures for Use in Robots Operating in Unstructured Environments

摘要

The LSU Robo-Tiger project is a joint effort involving LSU's Computer Science, Electrical Engineering, and Athletic departments. The idea was conceived by Dr. S. S. Iyengar and Dr. Lynn Jelinski late in the fall semester of 1999. The goal was to build a cybernetic tiger to be used to help the school mascot, Mike the Tiger, with his duties at the schools various athletic functions. In doing so, it was hoped the project would not only catch the imagination of the students and faculty, but also provide a viable research platform for studying various issues pertaining to mobile robots in unstructured environments. Under the direction of Dr. S. S. Iyengar, the LSU Computer Science department's Robot Research Lab has conducted preliminary studies to determine the feasibility of the project. The first phase of the project consisted of constructing, modifying and programming a small prototype of the tiger. A series of three prototypes were used to identify the various issues involved in developing a full sized robotic tiger. Although the resulting prototypes are much simplified versions of the final product, many of the ideas, concepts, algorithms and construction methods are applicable.