A Computer Simulation Study of an Expert System for Walking Machine Motion Planning.

Abstract

A basic algorithm for motion planning of an autonomous robotic vehicle is developed and presented in this study. The algorithm is implemented using simple rules in an expert system shell. This algorithm will allow autonomous vehicles with only rudimentary sensory abilities to navigate from point A to point B with no previous knowledge of the terrain. For this study, the algorithm is implemented with a KEE expert system shell on a Texas Instrument Explorer Lisp machine and controls a color graphics computer simulation of the Ohio State University Adaptive Suspension Vehicle. Keywords: Autonomous navigation; Surface navigation; Robotics; Theses.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1987
Accession Number
ADA187907

Entities

People

  • Richard P. Goodpasture

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Navigation
  • Autonomous Vehicles
  • C Programming Language
  • Computer Programming
  • Computer Science
  • Computers
  • Control Systems
  • Expert Systems
  • Lisp Programming Language
  • Motion Planning
  • Network Protocols
  • Robot Navigation
  • Robotics
  • Robots
  • Unmanned Vehicles
  • Vehicles

Readers

  • Artificial Intelligence
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy