Mulltivariate motion planning of autonomous robots
Contributors: Naval Postgraduate School (U.S.) 
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1997
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 105
Subjects: AUTONOMOUS NAVIGATION; ROBOTS
Description: A problem of motion control in robot motion planning is to find a smooth transition while going from one path to      another. The key concept of our theory is the steering function, used to manipulate the motion of our vehicle. The      steering function determines the robot's position and orientation by controlling path curvature and speed. We also      present the - neutral switching method - algorithm that provides the autonomous vehicle with the capability to      determine the best leaving point which allows for a smooth transition from one path to another in a model-based      polygonal world. The above mentioned algorithm is thoroughly presented, analyzed, and programmed on a Unix      workstation, and on the autonomous mobile robot Yamabico. The research data indicate that neutral switching      method improved the transition results for polygon tracking, star tracking motion, and circle tracking. Moreover,      neutral switching method enhances robot control and provides a more stable transition between paths than any      previously known algorithm.
Notes: Thesis advisors, Yataka Kanayama, Nelson Ludlow.

AD-A331 784.

Thesis (M.S. in Computer Science) Naval Postgraduate School, March 1997.

Includes bibliographical references (p. 103)

dk/dk cc:9116 11/14/97.