Unstructured Facility Navigation by Applying the NIST 4D/RCS Architecture

reportActive / Technical Report | Accession Number: ADA515633 | Open PDF

Abstract:

The National Institute of Standards and Technologys NIST Intelligent Systems Division ISD is working with the material handling industry, specifically on automated guided vehicles, to develop next generation vehicles. ISD is also a participant in the Defense Advanced Research Project Agency DARPA Learning Applied to Ground Robots LAGR Project embedding learning algorithms into the modules that make up the Four DimensionalReal- Time Control System 4DRCS. 4DRCS is the standard reference model architecture which ISD has applied to control many intelligent systems. Technology from LAGR is being transferred to the material handling industry through the NIST Industrial Autonomous Vehicles Project. This paper describes the 4DRCS structure and control applied to LAGR and the transfer of this technology through a demonstration to the automated guided vehicles industry.

Author(s):
Bostelman, Roger ; Hong, Tsai ; Chang, Tommy ; Shackleford, William ; Shneier, Michael
Author Organization(s):
NATIONAL INST OF STANDARDS AND TECHNOLOGY GAITHERSBURG MD INTELLIGENT SYSTEMS DIV
Descriptive Note:
Conference paper
Supplementary Note:
Presented at the International Conference on Cybernetics and Information Technologies, Systems and Applications (CITSA 06) held in Orlando, Florida on 20-23 July 2006. Published in the Proceedings of the International Conference on Cybernetics and Information Technologies, Systems and Applications (CITSA 06), 2006. The original document contains color images.
Pagination:
0007

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

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

RECORD

Collection: TR
Identifying Numbers
Monitor Series:
DARPA
 Subject Terms
Joint Capability Areas:
JCA_5_Command and Control; JCA_5.5_Direct; JCA_4.2_Supply; JCA_5.5.1_Communicate Intent and Guidance; JCA_5.3_Planning; JCA_5.5.2_Task
Modernization Areas:
Autonomy; AI and Machine Learning
Communities of Interest:
Sensors
Descriptor(s):
*ROBOTICS, *COMPUTER ARCHITECTURE, *MATERIALS HANDLING, *CONTROL SYSTEMS, *REAL TIME, *SELF OPERATION, *NAVIGATION, ROBOTS, TIME, EMBEDDING, VEHICLES, ARCHITECTURE, LEARNING, INERTIAL MEASUREMENT UNITS, FACILITIES, MODELS, INDUSTRIES, SYMPOSIA, REPRINTS, GROUND LEVEL, ALGORITHMS, CONTROL
Field(s)/Group(s):
Computer Programming and Software, Cybernetics, Test Facilities, Equipment and Methods, Miscellaneous Detection and Detectors, Human Factors Engineering and Man Machine Systems, Surface Transportation and Equipment, Navigation and Guidance
Keyword(s):
*LAGR(LEARNING APPLIED TO GROUND ROBOTS), *4D RCS(FOUR DIMENSIONAL REAL TIME CONTROL SYSTEM), *AGV(AUTOMATED GROUND VEHICLES), HIERARCHICAL CONTROL, REFERENCE MODEL ARCHITECTURE, INDUSTRIAL AUTONOMOUS VEHICLES, RFID(RADIOFREQUENCY IDENTIFICATION), OCU(OPERATOR CONTROL UNIT), IMU(INERTIAL MEASUREMENT UNITS)
Report Date:
2006 Jul 01
Creation Date:
2010 Mar 24