A prototype study of an autonomous robot platform for sewerage system maintenance

被引：45

作者：

Kirchner, F

Hertzberg, J

机构：

[1] GMD, Ger. Natl. Res. Ctr. Info. Technol., Schloß Birlinghoven

来源：

AUTONOMOUS ROBOTS | 1997年 / 4卷 / 04期

关键词：

robot control; robot navigation; active perception; partially observable Markov decision problems;

D O I：

10.1023/A:1008896121662

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The paper describes KURT, an autonomous robot platform prototype that is able to navigate through a network of sewage pipes. KURT is a six-wheeled vehicle; it has modular, layered hardware and control architectures. Its sensor configuration consists mainly of stationary and one flexible ultrasound transducers and of two inclinometers. In experiments run in a test sewerage system consisting of concrete pipes of 600 mm diameter, it has proven its abilities to travel safely through straight pipes, to recognize different types of pipe crossings, to turn at crossings, and to navigate from a given start point to arbitrary specified goal points.

引用

页码：319 / 331

页数：13

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