A fault-tolerant architecture for an automatic vision-guided vehicle

A fault-tolerant architecture for an automatic navigation system is presented. The system employs a mixed type of architecture in which the speed advantages of both pipelined and parallel architectures are exploited to achieve real-time navigation. The fault-tolerant architecture is presented using two reconfiguration strategies. To evaluate the proposed architecture, its reliability, availability, and safety are investigated using Markov models. The feasibility of implementing the proposed architecture is studied. It is found that the architecture be implemented to perform the required real-time navigation of the automatic vision-guided vehicle. >

[1]  Toshihiro Tsumura.  Survey of automated guided vehicle in a Japanese factory , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[2]  Richard S. Wallace.  Robot road following by adaptive color classification and shape tracking , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[3]  Rafael M. Inigo,et al.  Range Measurements by a Mobile Robot Using a Navigation Line , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[4]  Larry S. Davis,et al.  A visual navigation system for autonomous land vehicles , 1987, IEEE J. Robotics Autom..

[5]  David D. Grossman.  Traffic control of multiple robot vehicles , 1988, IEEE J. Robotics Autom..

[6]  Hans P. Moravec.  Visual Mapping by a Robot Rover , 1979, IJCAI.

[7]  Wen-Hsiang Tsai,et al.  Moment-preserving thresolding: A new approach , 1985, Comput. Vis. Graph. Image Process..

[8]  Toshio Kondo,et al.  Automatic position findings of vehicle by means of laser , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[9]  Paul Levi,et al.  Principles of planning and control concepts for autonomous mobile robots , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[10]  Rodney A. Brooks,et al.  Visual map making for a mobile robot , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[11]  Allen M. Waxman,et al.  Visual navigation of roadways , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[12]  V. Lumelsky,et al.  Algorithmic issues of sensor-based robot motion planning , 1987, 26th IEEE Conference on Decision and Control.

[13]  Uma Kant Sharma,et al.  Model based geometric reasoning for autonomous road following , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[14]  Toru Suzuki,et al.  Automated vehicle guidance using spotmark , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[15]  J. Schneiter.  An objective tactile sensing strategy for object recognition and localization , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[16]  Michael K. Brown,et al.  On ultrasonic detection of surface features , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[17]  Pepe Siy.  Road map production system for intelligent mobile robot , 1984, ICRA.

[18]  M. Driels.  Pose estimation using tactile sensor data for assembly operations , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[19]  John M. Hollerbach,et al.  An integrated tactile and thermal sensor , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[20]  Nabil Jean Naccache,et al.  SPTA: A proposed algorithm for thinning binary patterns , 1984, IEEE Transactions on Systems, Man, and Cybernetics.

[21]  Mark Thomas,et al.  Vision-based road following in the autonomous land vehicle , 1987, 26th IEEE Conference on Decision and Control.

[22]  Mansur R. Kabuka,et al.  An automatic navigation system for vision guided vehicles using a double heuristic and a finite state machine , 1991, IEEE Trans. Robotics Autom..

[23]  Sharon A. Stansfield,et al.  Primitives, features, and exploratory procedures: Building a robot tactile perception system , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[24]  Rafael M. Inigo,et al.  Sensing Error for a Mobile Robot Using Line Navigation , 1985, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[25]  Masafumi Hashimoto,et al.  Positioning and guidance of ground vehicle by use of laser and corner cube , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.