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Experiments with a Rule-Based Robot Palletiser

  • Jian Peng
  • Stephen Cameron
Chapter
Part of the Microprocessor-Based and Intelligent Systems Engineering book series (ISCA, volume 9)

Abstract

The Oxford Autonomous Guided Vehicle Project is taking an industrial robot vehicle and seeing how it can be made ‘smarter’. The project is proceeding along two main avenues: improvements in sensors and in sensor data-fusion; and improvements in planning [1]. Examples of sensor systems with which we are experimenting include the vehicle’s basic laser triangulation system, stereo vision, sonar, infra-red, and laser ranging. The planning stages are based around the world model (a geometric database) [2,9]; one simplifying assumption (that is reasonable for this vehicle) is that the world model is an accurate enough representation for the planning systems not to be worried by the sensor data itself. Thus the world model serves as a bridge from the data integration system to the planning systems.

Keywords

Path Planning World Model Geometric Reasoning Path Planner Data Integration System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Mike 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 R Bolles and B Roth, editors, The Fourth Int. Symp. on Robotics Research, 1988.Google Scholar
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    T. Hague, J. M. Brady, and S. A. Cameron. Using moments to plan paths for the Oxford AGV. In Int. Conf. Robotics 8 Automation, pages 210–215, Cincinatti, May 1990.CrossRefGoogle Scholar
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    Bill Triggs and Stephen Cameron. The Oxford robot world model. In ASI on Expert Systems and Robotics, Corfu, July 1990.Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 1991

Authors and Affiliations

  • Jian Peng
    • 1
  • Stephen Cameron
    • 1
  1. 1.Computing Laboratory and Robotics Research GroupUniversity of OxfordUK

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