Creating a Mobile Autonomous Robot Research System (MARRS)

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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-1s 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.

Author(s):
Clifford, Thomas E. ; Schneider, Iii, Hubert G.
Author Organization(s):
AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING
Descriptive Note:
Master's thesis
Supplementary Note:
Personally identifiable information (PII) was redacted.
Pagination:
0258

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release
Distribution Statement:
Approved For Public Release; Distribution Is Unlimited.

RECORD

Collection: TR
Identifying Numbers
Report Number(s):
AFIT/GE/ENG/84D-19
Monitor Series:
AFIT
 Subject Terms
Joint Capability Areas:
JCA_5_Command and Control; JCA_4.6_Engineering; JCA_4.6.1_General Engineering; JCA_2.1_Planning and Direction; JCA_2.1.3_Task and Monitor Resources; JCA_5.3_Planning; JCA_5.5.2_Task; JCA_5.5_Direct; JCA_1.2.6_Concepts; JCA_1.2.3_Educating; JCA_4.3_Maintain; JCA_1.2.5_Lessons Learned; JCA_1.3.2_Personnel Management; JCA_5.2.2_Develop Knowledge and Situational Awareness; JCA_5.2_Understand; JCA_5.4_Decide; JCA_1.2.1_Training
Modernization Areas:
Autonomy; Fully Networked C3; AI and Machine Learning
Communities of Interest:
Autonomy
Descriptor(s):
*NAVIGATION COMPUTERS, *ROBOTS, ACOUSTIC RANGES, AIR FORCE, COMPUTER PROGRAMS, MAPPING, MICROPROCESSORS, PROGRAMMING LANGUAGES, SCHEMATIC DIAGRAMS, THESES, ULTRASONICS
Field(s)/Group(s):
Bionics
Keyword(s):
MARRS(MOBILE AUTONOMOUS ROBOT RESEARCH SYSTEM), OSE(OPTICAL SHAFT ENCODER), BASIC LANGUAGE
Report Date:
1984 Dec 01