An expert system for high level motion control for an autonomous mobile robot
By: Robert William Fish
Contributors: Naval Postgraduate School (U.S.)
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1993
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 99
Description: The Computer Science Department at the Naval Postgraduate School in Monterey, California performs research on the control and operation of autonomous mobile robots. One such robot, Yamabico-11, is an excellent test platform for the study of path planning and obstacle avoidance. The ability to operate in an area where unforeseen obstacles are present, and still attain the specified goal, is a highly desirable behavior in an autonomous mobile robot. This thesis takes a step in that direction by proposing and implementing an expert system for high level motion control of the robot. The expert system combines basic path planning routines and advanced obstacle avoidance techniques to direct the robot as it performs the mission.
Notes: Thesis advisor(s): Kanayama, Yutaka.

"June 1993."

Thesis (Master of Computer Science) Naval Postgraduate School, June 1993.

Bibliography: p. 98.

Approved for public release; distribution unlimited.