This paper discusses the sensor-based telerobotic driving of a car in a-priori unknown environments using 'human-like' reasoning schemes implemented on custom-designed VLSI fuzzy inferencing boards. These boards use the Fuzzy Set theoretic framework to allow very vast (30 kHz) processing of full sets of information that are expressed in qualitative form using membership functions. The sensor-based and fuzzy inferencing system was incorporated on an outdoor test-bed platform to investigate two control modes for driving a car on the basis of very sparse and imprecise range data. In the first mode, the car navigates fully autonomously to a goal specified by the operator, while in the second mode, the system acts as a telerobotic driver's aid providing the driver with linguistic (fuzzy) commands to turn left or right, speed up, slow down, stop, or back up depending on the obstacles perceived by the sensors. Indoor and outdoor experiments with both modes of control are described in which the system uses only three acoustic range (sonar) sensor channels to perceive the environment. Sample results are presented that illustrate the feasibility of developing autonomous navigation modules and robust, safety-enhancing driver's aids for telerobotic systems using the new fuzzy inferencing VLSI hardware and 'human-like' reasoning schemes.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Real-time qualitative reasoning for telerobotic systems


    Beteiligte:


    Erscheinungsdatum :

    01.02.1993


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Achievability for Telerobotic Systems

    Kress, R. L. / Draper, J. V. / Hamel, W. R. et al. | British Library Conference Proceedings | 2001


    Achievability for telerobotic systems

    Kress, Reid L. / Draper, John V. / Hamel, William R. | American Institute of Physics | 2001


    Telerobotic controller development

    Otaguro, W. S. / Kesler, L. O. / Land, Ken et al. | NTRS | 1987



    Flight telerobotic servicer

    Haley, Dennis | NTRS | 1990