Abstract
The Omni-Directional Inspection System, or ODIS, is a small, man-portable mobile robotic system that can be used for autonomous or semi-autonomous inspection under vehicles in a parking area. Customers for such a system include military police (MP) and other law enforcement and security entities. The robot features three “smart wheels” in which both the speed and direction of the wheel can be independently controlled and a vehicle electronic capability that includes multiple processors and a sensor array with a laser, sonar and IR sensors, and a video camera. ODIS employs a novel parameterized command language for intelligent behavior generation. A key feature of the ODIS control system is the use of an object recognition system that fits models to sensor data. These models are then used as input parameters to the motion and behavior control commands.
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