The Mobile Robot RHINO

Boddy 1988) are employed wherever possible. 's software consists of a dozen different Sonar information is to and from the hardware components obtained at a rate of 1.3 hertz (Hz), and camera of the robot. On top of these, a fast images are processed at a rate of 0.7 Hz. obstacle-avoidance routine analyzes sonar's control software, as exhibited analyzing sonar information. It has been operated repeatedly and obstacles that block the path of the for durations as long as one hour in populated robot. 's control flow is monitored by an office environments without human integrated task planner and a central user intervention.