Wissensbasierte multisensorielle Sensorinfomationsverarbeitung zur Umweltorientierung fuer autonome Systeme im Weltraum. EXAMINER 2 Schlussbericht

The consortium formed for the EXAMINER II research project set itself the goal to conceive and submit to prototype testing a handling system which is capable of orienting itself in a not completely known environment by means of data from a number of different sensors. Interest was focused on automatic updating and, if appropriate, extension of the environment model based on sensor data, in particular stereoscopic images. For the overall system a limited planning capability on the basis of task and target descriptions was desired, in order to permit autonomous coping with unexpected situations. For reasons of the desired flexibility of action of the system, special attention was to be placed upon knowledge based approaches. As presented in this paper, an extendable framework was created for further investigations of innovative closed-loop and open-loop control concepts in the field of dexterous tactile handling using one or more arms. In this context, image processing can and in the future will play an important role as a sensor. Approaches to autonomous sequential planning and to performance upgrading by learning will be tested. Within the framework of this project the transferability of these approaches to collision-avoiding trajectory planning was demonstrated, the required effort and the resulting benefit to an overall system was determined, but also were the limits of this technique indicated. A distributed object oriented architecture organization for a smart robot control system was conceived and in part realized with promising outlooks. It may serve as prototype for other control systems of similar purposes. (orig./RHM)SIGLEAvailable from TIB Hannover: F95B591+a / FIZ - Fachinformationszzentrum Karlsruhe / TIB - Technische InformationsbibliothekBundesministerium fuer Forschung und Technologie (BMFT), Bonn (Germany)DEGerman