Accession Number : ADA182569

Title :   A Knowledge Based System for Piloting an Autonomous Land Vehicle.

Descriptive Note : Final rept. 1986-1987,

Corporate Author : NAVAL ACADEMY ANNAPOLIS MD

Personal Author(s) : Mellor,John P.

Report Date : 19 MAY 1987

Pagination or Media Count : 131

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.

Descriptors :   *ROBOTS, *GROUND VEHICLES, DETECTORS, DYNAMICS, ENGINEERING, COMPUTER PROGRAMS, LEARNING, MODELS, PATHS, COMPUTER PROGRAMMING, PLANNING, REASONING, SIMULATION, THREE DIMENSIONAL, VEHICLES

Subject Categories : Surface Transportation and Equipment

Distribution Statement : APPROVED FOR PUBLIC RELEASE