A Knowledge Based System for Piloting an Autonomous Land Vehicle.
Abstract
The objective of this project was to construct a simulation consisting of a model of the world and a model of a vehicle. The simulation was constructed using object oriented programming and because of its structure facilitates a dynamic world, multiple vehicles, learning, reasoning about time, and incremental development of the vehicle and world. In addition, the pilot uses three dimensional information for path planning. With the exception of this project, there are no actual vehicles which use three dimensional path planning. The simulation is implemented on a Lisp machine using an object oriented programming package called Knowledge Engineering Environment (KEE) and produced by Intellicorp. The simulation provides the vehicle with realistic sensor information and is capable of simulating a dynamic world. The sensor information provided to the vehicle was used by a piloting routine to pilot the vehicle to a goal while avoiding obstacles. Its performance decreased as clutter increased. In all cases the pilot was able to avoid collisions, but in some cases was unstable to reach the goal. Keywords: Computer program listings.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 19, 1987
- Accession Number
- ADA182569
Entities
People
- John P. Mellor
Organizations
- United States Naval Academy