Accession Number : ADA187907

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

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Goodpasture, Richard P

PDF Url : ADA187907

Report Date : Dec 1987

Pagination or Media Count : 103

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.

Descriptors :   *ALGORITHMS, *COMPUTERIZED SIMULATION, *ROBOTS, *AUTONOMOUS NAVIGATION, *COMPUTER COMMUNICATIONS, COLORS, COMPUTER GRAPHICS, MOTION, PLANNING, ROBOTICS, SURFACE NAVIGATION, TERRAIN, THESES, VEHICLES, INTERFACES

Subject Categories : Land and Riverine Navigation and Guidance
      Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE