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Autonomous Navigation for Structured Exterior Environments

by J. Bryan Pletta, Sandia Natl Lab, Albuquerque, United States,



Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments

Abstract:

The Telemanaged Mobile Security Station (TMSS) was developed at Sandia National Laboratories to investigate the role of mobile robotics in exterior perimeter security systems. A major feature of the system is its capability to perform autonomous patrols of the security site's network of roads. Perimeter security sites are well known, structured environments; the locations of the roads, buildings, and fences are relatively static. A security robot has the advantage of being able to learn its new environment prior to autonomous travel. The TMSS robot combines information from a microwave beacon system and on-board dead reckoning sensors to determine its location within the site. The operator is required to teleoperate the robot in a teach mode over all desired paths before autonomous operations can commence. During this teach phase, TMSS stores points from its position location system at two meter intervals. This map data base is used for planning paths and for reference during path following. Details of the position location and path following systems will be described along with system performance and recommendations for future enhancements.

Subject Headings: Automation and robotics | Structural safety | Navigation (geomatic) | Traffic engineering | Probe instruments | Structural control | Microwaves

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