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A mobile mapping system for hazardous facilities [electronic resource].

Published
Washington, D.C. : United States. Dept. of Energy, 1997.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
Physical Description
7 pages : digital, PDF file
Additional Creators
Oak Ridge National Laboratory, United States. Department of Energy, and United States. Department of Energy. Office of Scientific and Technical Information
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Summary
The Mobile Mapping System (MMS) is a completely self-contained vehicle with omnidirectional capability and extremely good odometry, capable of operation up to 12 hours between battery charges. The platform itself is based on a dual differential drive system with a compliant linkage between the two drive systems. This compliant linkage allows for low-level controller errors to be absorbed by the system and their navigational effects to be compensated for, yielding an extremely accurate navigational capability. Vehicle design also allows for a considerable payload (250 lb) and a large surface area for auxiliary equipment mounting (2 by 6 ft). The vehicle supports remote operation by reading commands and writing replies through its serial communications port. Use of a radio-ethernet and a radio-video channel allow for remote video and communications links to be maintained with the vehicle in many remote operation environments. The MMS uses a structured light system to quickly acquire coarse range images of the environment and a coherent laser radar (CLR) to acquire finer resolution range images. The coherent laser radar can also be used to determine platform position and orientation to millimeter accuracies if targets of known. Sensor range image data as well as video are off loaded to a remote computer for postprocessing, display, and archiving. Diagrams and images below include an image of the MMS vehicle before addition of sensors, diagram of vehicle with sensors, and computer system connections.
Report Numbers
E 1.99:conf-970464--12
conf-970464--12
Subject(s)
Other Subject(s)
Note
Published through SciTech Connect.
03/01/1997.
"conf-970464--12"
"DE97002983"
7. American Nuclear Society topical meeting on robotics and remote systems, Augusta, GA (United States), 27 Apr - 1 May 1997.
Wilson, C.W.; Jones, J.P.; Barry, R.E.; Little, C.Q.
Funding Information
AC05-96OR22464
AC04-94AL85000
View MARC record | catkey: 14112880