Foundations for Learning and Adaptation in a Multi Degree of Freedom Unmanned Ground Vehicle

Abstract

The real-time coordination and control of a many motion degrees of freedom (dof) unmanned ground vehicle under dynamic conditions in a complex environment is nearly impossible for a human operator to accomplish. Needed are adaptive on-board mechanisms to quickly complete sensor-effector loops to maintain balance and leverage. This paper contains a description of our approach to the control problem for a small unmanned ground vehicle with six dof in the three spatial dimensions. Vehicle control is based upon five fixed action patterns that exercise all of the motion dof of which the vehicle is capable. and five basic reactive behaviors that protect the vehicle during operation. The reactive behaviors demonstrate short-term adaptations. requirement for basic behavioral motivation.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 2004
Accession Number
ADA424299

Entities

People

  • Michael R. Blackburn
  • Richard Bailey

Organizations

  • Naval Information Warfare Systems Command

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Abstracts
  • Acquisition
  • Algorithms
  • Control Systems
  • Energy Management
  • Ground Vehicles
  • Human Behavior
  • Learning
  • Motivation
  • Radio Communications
  • Radio Links
  • Survival
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Systems
  • Unmanned Vehicles
  • Video Cameras

Fields of Study

  • Engineering

Readers

  • Robotics and Automation.
  • Theoretical Analysis.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control
  • Autonomy - UAVs