Autonomous Intelligent Assembly Systems LDRD 105746 Final Report
Author | : |
Publisher | : |
Total Pages | : 60 |
Release | : 2013 |
ISBN-10 | : OCLC:960787173 |
ISBN-13 | : |
Rating | : 4/5 (73 Downloads) |
This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control framework for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.