Accession Number : ADA290504

Title :   Motion Planning and Sensory Processing in a Dynamic Environment.

Descriptive Note : Final rept.,

Corporate Author : NORTH CAROLINA STATE UNIV AT RALEIGH DEPT OF ELECTRICAL AND COMPUTER ENGINEERI NG

Personal Author(s) : Luo, Ren C. ; Hislop, David W.

PDF Url : ADA290504

Report Date : 31 MAR 1994

Pagination or Media Count : 34

Abstract : The objective of this research is to develop a sensor controlled intelligent mobile robot system for operating in a dynamic environment. In contrast to approaches for operating in a static environment, the proposed method is designed explicitly for navigation in dynamic environments and is able to immediately modify its control strategies in response to unexpected changes in the environment. The research herein is divided into two major areas: motion planning and sensory processing. The motion planning research introduces the concept of traversability vectors which can be used to represent a dynamic environment, and uses a temporal reasoning scheme to plan the robot motion. The primary research in sensory processing being the control or integration of multiple sensors on the mobile robot so as to allow for their coordinated use for the detection and avoidance of objects and obstacles in the environment.

Descriptors :   *ROBOTS, *MOBILE, *AUTONOMOUS NAVIGATION, CONTROL, CONTRAST, ENVIRONMENTS, DETECTION, STRATEGY, DYNAMICS, PROCESSING, MOTION, INTEGRATION, PLANNING, STATICS, AVOIDANCE, MULTISENSORS, SENSES(PHYSIOLOGY), SYSTEMS ENGINEERING.

Subject Categories : Cybernetics
      Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE