Our hardware is an electric vehicle, remotely controlled over a citizens band radio link by a PDP-KL10. It carries a black and white television camera whose picture is broadcast over a UHF channel, and received and occasionally digitized by the computer. The vehicle has drive motors for the rear wheels, a steering motor coupled to a steering bar arrangement on the front wheels, and a motor controlling the camera pan angle. Each can be commanded to run forward or backward. There is a potentiometer on the steering and pan linkages which enables them to be commanded to point straight ahead. The mechanical arrangements are crude, the motor speeds are unregulated, and there is no feedback to the computer other than the video from the camera. Overall dead reckoning errors are on the order of 30%. Most of the computer controlled runs so far have been with the camera pointed straight ahead and the vehicle moving forward in two foot increments, punctuated by long pauses, during which the images are processed.
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