Planning Systems for Autonomous Legged Vehicles
Abstract
This report describes efforts to integrate the areas of mobility research and autonomous navigation in support of the Adaptive Suspension Vehicle program. Experimental research on the locomotion of Nubian goats is summarized. A decision model of terrain navigation based upon the experimental results is reported. The Computer Simulation of Animal based upon the experimental results is reported. The Computer Simulation of Animal Navigation, which implements the decision model, is presented. The need for increased flexibility in planning systems is discussed, and a sliding vehicle simulation which incorporates some of the desired features (the Blackboard Planning System) is described. A paper discussing the fundamental notions of search and exploration in autonomous navigation is included. Keywords: Mobility research; Vehicle control; Planning; Navigation; Blackboard architectures; Decision systems; Search and exploration.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 01, 1989
- Accession Number
- ADA214242