Mobile robotics for the surveillance of fissile material storage areas : Sensors and data fusionFunded under: JRC-SAFEFM 5C
A mobile robotics system is being developed to perform remote surveillance tasks inside a fissile material pilot storage area. The system consists of the operator's console and a remote-control vehicle carrying a manipulator arm and sensors (odometers, TV cameras, ultrasound sensors and a laser range finder). Nuclear safeguards philosophy stresses the need for sensors based on different physical principles, allowing for true sensor independence and complementarity. These aspects are important when fusing sensor data, in order to build corroborative evidence upon which decisions are to be made. The paper describes the mobile robotics system and studies the implications of the on-board sensors in the system's architecture at both the hardware and software levels. The use of sensor data for vehicle navigation is described, as well as the application of range images for environment authentication.
Bibliographic Reference: Article: Data Fusion Applications (1993) pp. 214-245
Record Number: 199311550 / Last updated on: 1994-11-28
Original language: en
Available languages: en