| Autor: |
Robert Ivlev, Erann Gat, David P. Miller, John Loch, Rajiv S. Desai |
| Rok vydání: |
1994 |
| Předmět: |
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| Zdroj: |
IEEE Transactions on Robotics and Automation. 10:490-503 |
| ISSN: |
1042-296X |
| DOI: |
10.1109/70.313099 |
| Popis: |
This paper describes a series of robots developed at JPL to demonstrate the feasibility of using a behavior-control approach to control small robots on planetary surfaces. The round-trip light-time delay makes direct teleoperation of a mobile robot on a planetary surface impossible. Planetary rovers must therefore possess a certain degree of autonomy. However, small robots can only support small computers (due mostly to power, not size constraints). Behavior control provides a means of autonomous control that requires very little computation. The robots described in this paper all used 8-bit, 1-MIP microprocessors with as little as 4 k and no more than 40 k of memory, and extremely simple sensors. Despite these limitations they reliably perform both autonomous navigation and manipulation in both indoor and outdoor rough-terrain environments. > |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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