A Geometric Database for the Oxford Autonomous Guided Vehicle

  • Stephen Cameron
Conference paper
Part of the NATO ASI Series book series (volume 50)

Abstract

The Oxford Autonomous Guided Vehicle Project has the general goal of developing vehicles that can perform useful roles within semi-structured environments. We are currently working with an industrial vehicle, to enable it to cope with the uncertainties which are inherent within the real world. This involves adding a number of sensors to the vehicle, and studying how the information so gathered can be incorporated within a geometric database. This paper discusses the requirements for this database, and outlines the extensions to an existing geometric modelling system (ROBMOD) to provide the three-dimensional components of this database.

Keywords

Sugar Boulder Sonar 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [ACC86]
    A. P. Ambler, S. A. Cameron, and D. F. Corner. Augmenting the RAPT robot Language. In U. Rembold and K. Hormann, editors, Languages for Sensor-Based Control in Robotics, pages 305–316, Springer-Verlag, ref. F29 (1987), Castelvecchio Pascoli, September 1986. Also as University of Edinburgh DAI Research Paper 330.Google Scholar
  2. [Ayl87]
    J. C. Aylett. WPFM: The Workspace Prediction and Fast Matching System. Technical Report WP207, Department of Artificial Intelligence, University Of Edinburgh, U.K., 1987.Google Scholar
  3. [BCD*87]
    Michael Brady, Stephen Cameron, Hugh Durrant-Whyte, Margaret Fleck, David Forsyth, Alison Noble, and Ian Page. Progress towards a system that can acquire pallets and clean warehouses. In Fourth Int. Symp. Robotics Research, Santa Cruz, August 1987.Google Scholar
  4. [Bro82]
    Chris Brown. PADL-2: a technical summary. IEEE Computer Graphics and Applications, 2(2):69–84, March 1982.CrossRefGoogle Scholar
  5. [BRS85]
    R. Barrett, A. Ramsay, and A. Sloman. POP-11: A Practical Language for Artificial Intelligence. Ellis-Horwood, Chichester, 1985.Google Scholar
  6. [CA87]
    S. A. Cameron and J. C. Aylett. ROBMOD Users Guide. Software Report, Department of Artificial Intelligence, University of Edinburgh (U.K.), 1987.Google Scholar
  7. [CA88]
    Stephen Cameron and Jon Aylett. ROBMOD: a geometry engine for robotics. In IEEE Int. Conf. Robotics and Automation, pages 880–885, Philadelphia, April 1988.Google Scholar
  8. [Cam84]
    S. A. Cameron. Modelling Solids in Motion. PhD thesis, University of Edinburgh, 1984. Available from the Department of Artificial Intelligence.Google Scholar
  9. [Cam85]
    S. A. Cameron. A study of the clash detection problem in robotics. In IEEE Int. Conf. Robotics and Automation, pages 488–493, St. Louis, March 1985.Google Scholar
  10. [Cam87]
    S. A. Cameron. Efficient intersection tests for objects defined constructively. 1987. To appear in Int. J. Robotics Research; similar to Oxford Robotics Group OURRG-87-1.Google Scholar
  11. [Cra86]
    John J. Craig. Introduction to Robotics: Mechanisms and Control. Addison-Wesley, 1986.Google Scholar
  12. [Kha85]
    O. Khatib. Real-time obstacle avoidance for manipulators and mobile robots. In Int. Conf. Robotics and Automation, pages 500–505, St. Louis, March 1985.Google Scholar
  13. [Loz83]
    T. Lozano-Pérez. Spatial planning—a configuration space approach. IEEE Transactions on Computers, 108–120, February 1983.Google Scholar
  14. [Loz85]
    T. Lozano-Pérez. Motion planning for simple robot manipulators. In 3rd Int. Sym. Rob. Res., Gouvieux, 1985.Google Scholar
  15. [RV82]
    A. A. G. Requicha and H. B. Voelcker. Solid modeling: a historical summary and contemporary assessment. IEEE Computer Graphics and Applications, 2(2), March 1982.Google Scholar
  16. [Ste84]
    Guy L. Steele Jr. COMMON LISP the Language. Digital Press, 1984.Google Scholar
  17. [WQ84]
    J. R. Woodwark and K. M. Quinlan. Reducing the effect of complexity on volume model evaluation. CAD J., 14(2), March 1984.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1988

Authors and Affiliations

  • Stephen Cameron
    • 1
  1. 1.Department of Engineering ScienceUniversity of OxfordOxfordUK

Personalised recommendations