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BLANCHE: AN AUTONOMOUS ROBOT VEHICLE FOR STRUCTURED ENVIRONMENTS.

Cox, IJ; (1988) BLANCHE: AN AUTONOMOUS ROBOT VEHICLE FOR STRUCTURED ENVIRONMENTS. pp. 978-982.

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Abstract

Blanche is an experimental vehicle designed to operate autonomously within a structured office or factory environment. Blanche has been designed with several goals in mind. First and foremost, Blanche is a testbed with which to experiment with such things as robot programming languages, sensor integration/data fusion techniques, i. e. , the management of sparse, conflicting, and/or uncertain information, and with techniques for error detection and recovery. Second, Blanche is designed to be low-cost and its dependence on only two sensors, an optical rangefinder and odometry, reflects this. A description is given of the structure of the vehicle and its associated sensors. Experimental results characterizing the accuracy and repeatability of the cart and sensors are presented. A brief description of the obstacle-free trajectory generation and low-level control algorithms are also given.

Type: Article
Title: BLANCHE: AN AUTONOMOUS ROBOT VEHICLE FOR STRUCTURED ENVIRONMENTS.
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: http://discovery.ucl.ac.uk/id/eprint/1363046
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