SBIR Phase I: Robotic Pavement Marking

这项小企业创新研究（SBIR）第一阶段项目的更广泛影响/商业潜力是通过使有效的视觉街道标志更便宜和更容易获得来提高道路安全。这将通过智能移动机器人系统的设计来实现，该系统使用先进的定位和机器视觉来自动生成精确创建和准确放置的道路标记。该项目将通过移动平台推动机器人材料分配的地理定位精度的极限。由此产生的系统将极大地提高道路涂装的效率，提供更高的精度、速度和灵活性，同时降低操作员的风险，减少交通拥堵，并通过增强标记支持更高的道路安全。这项工作的成功将应用于道路喷漆以外的领域，包括更广泛的自动化材料分配，以及用于制造的智能移动操作。这项小型企业创新研究（SBIR）第一阶段项目将解决在指定地点自动创建特定道路标志的挑战。研究内容包括：面向大面积、精密喷涂的移动机器人设计优化；基于传感器融合的移动机器人精确定位精密手/眼校准；开发自适应覆盖算法，能够执行基于定位、机器视觉和3d表面扫描的空间调整的复杂填充模式。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

The broader impact/commercial potential of this Small Business Innovation Research (SBIR) Phase I project is increasing road safety by making effective visual street markings more affordable and accessible. This will be achieved through the design of an intelligent mobile robotic system using advanced localization and machine vision to automate the process of producing road markings that are precisely created and accurately placed. The project will push the limits of accuracy of geolocation of robotic material dispensing via a mobile platform. The resulting system will dramatically improve efficiency of road painting, offering greater precision, speed, and flexibility while reducing risk to operators, reducing traffic congestion, and supporting greater road safety through enhanced markings. Success in this effort will have applications beyond road painting, including automated material dispensing more broadly, and intelligent mobile manipulation for manufacturing.This Small Business Innovation Research (SBIR) Phase I project will address the challenges of automating creation of specific road markings at desired locations. The research will include: design optimization of the mobile robot for large-area, precision painting; sensor fusion for precision localization of the mobile robot; precision hand/eye calibration; and development of adaptive coverage algorithms capable of executing complex fill patterns adjusted spatially based on localization, machine vision and 3-D surface scanning.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.