Creating a Mobile Autonomous Robot Research System (MARRS)
Abstract
The Mobile Autonomous Robot Research System (MARRS-1) was created as the first of a series of autonomous vehicle prototypes for the Air Force Institute of Technology. The major accomplishment in developing MARRS-1 is the integration of Optical Shaft Encoder (OSE) data with Ultrasonic Sonar range and direction information to produce accurate environmental maps that are relative to the robot. The OSE and Sonar subsystems makeup the most important part of MARRS-1's Navigation Computer. With these two subsystems and minimal additional software, mapping and obstacle avoidance become a reality. The thesis includes schematics, parts list, and software listings for the MARRS-1 Navigation Computer. Additionally, the mapping and navigation algorithms are shown implemented in the BASIC language with numerous example graphics maps created by the integrated MARRS-1 robot. Issues involved in solving mobile robotics problems are discussed. Originator-Supplied keywords included: Autonomous Vehicle, Robot, Environmental Mapping, Basic, Sonar, Shaft Encoder, Ultrasonics, Navigation, Microprocessors, Computer programs, and Theses.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 1984
- Accession Number
- ADA151963
Entities
People
- Hubert G. Schneider Iii
- Thomas E. Clifford
Organizations
- Air Force Institute of Technology