ISSN:
1573-7527
Keywords:
robot control
;
robot navigation
;
active perception
;
partially observable Markov decision problems
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract The paper describes KURT, an autonomous robot platform prototypethat is able to navigate through a network of sewage pipes. KURT is asix-wheeled vehicle; it has modular, layered hardware and controlarchitectures. Its sensor configuration consists mainly of stationary andone flexible ultrasound transducers and of two inclinometers. In experimentsrun in a test sewerage system consisting of concrete pipes of 600 mmdiameter, it has proven its abilities to travel safely through straightpipes, to recognize different types of pipe crossings, to turn at crossings,and to navigate from a given start point to arbitrary specified goalpoints.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1008896121662
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