An Automated Security Response Robot
Abstract
ROBART III is intended as an advanced demonstration platform for non-lethal response measures, extending the concepts of reflexive teleoperation into the realm of coordinated weapons control (i.e., sensor-aided control of mobility, camera, and weapon functions) in law enforcement and urban warfare scenarios. A rich mix of ultrasonic and optical proximity and range sensors facilitates remote operation in unstructured and unexplored buildings with minimal operator supervision. Autonomous navigation and mapping of interior spaces is significantly enhanced by an innovative algorithm which exploits the fact that the majority of man-made structures are characterized by (but not limited to) parallel and orthogonal walls. Extremely robust intruder detection and assessment capabilities are achieved through intelligent fusion of a multitude of inputs from various onboard motion sensors. Intruder detection is addressed by a 360-degree staring array of passive-infrared motion detectors, augmented by a number of positionable head-mounted sensors (i.e., sonar, microwave, video). Automatic camera tracking of a moving target is accomplished using a video line digitizer. Non-lethal response systems include a six-barreled pneumatically-powered Gatling gun, high-powered strobe lights, and three ear-piercing 103-decibel sirens. This paper presents a comprehensive overview of ROBART III's supervised autonomous navigation, intruder tracking, and non-lethal weapon and control systems.
Document Details
- Document Type
- Technical Report
- Publication Date
- Nov 01, 1998
- Accession Number
- ADA364497
Entities
People
- D. A. Ciccimaro
- G. A. Gilbreath
- Hobart R. Everett
- T. T. Tan
Organizations
- Naval Information Warfare Systems Command