Colorado School of Mines behavioral approach to the 1995 UGR competition

Robin R. Murphy; William A. Hoff; John Blitch; Val Gough; Dale Hawkins; James C. Hoffman; Ramon Krosley; Torsten Lyons; Amol Mali; James MacMillan; Steven Warshawsky

doi:10.1117/12.228978

27 December 1995 Colorado School of Mines behavioral approach to the 1995 UGR competition

Robin R. Murphy, William A. Hoff, John Blitch, Val Gough, Dale Hawkins, James C. Hoffman, Ramon Krosley, Torsten Lyons, Amol Mali, James MacMillan, Steven Warshawsky

Author Affiliations +

Proceedings Volume 2591, Mobile Robots X; (1995) https://doi.org/10.1117/12.228978
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

The Colorado School of Mines (CSM) entry placed fourth in the 1995 International Unmanned Ground Robotics Competition sponsored by the Association for Unmanned Vehicles (AUVS). Clementine 2, a battery powered children's jeep outfitted with a 100 MHz Pentium field computer, a camcorder, and a panning ultrasonic range finder served as the platform. The objectives of the CSM team were to gain familiarity with the CSM architecture by applying it to a well defined problem, evaluate existing computer vision based road following techniques, and gain practical experience in using multiple sensing modalities. The entry used the behavioral portion of the CSM hybrid deliberative/reactive architecture, which divided robot activities into four strategic and tactical behaviors: vision based follow-path, ultrasonic based avoid-obstacle, pan-camera, and speed-control using inclinometers. This paper details the motivation behind the CSM entry, the approach taken, and lessons learned.

Citation Download Citation

Robin R. Murphy, William A. Hoff, John Blitch, Val Gough, Dale Hawkins, James C. Hoffman, Ramon Krosley, Torsten Lyons, Amol Mali, James MacMillan, and Steven Warshawsky "Colorado School of Mines behavioral approach to the 1995 UGR competition", Proc. SPIE 2591, Mobile Robots X, (27 December 1995); https://doi.org/10.1117/12.228978

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