Accession Number : ADA304359

Title :   The Local Motion Planning for an Autonomous Mobile Robot.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Yun, Seok J.

PDF Url : ADA304359

Report Date : SEP 1995

Pagination or Media Count : 73

Abstract : The major problem addressed by this research is how to develop a motion control algorithm for local motion planning of an autonomous mobile robot. The approach taken was to clearly define the robot's motion descriptions and to design a high-level, machine independent robot control language called MML (Model-based Mobile robot Language). The results are that the robot can implement smooth rotation, symmetric, and initial motion tracking on an given environment. Based on the motion control algorithm developed in this thesis, the robot with rigid body can be applicable in both local and global motion planning. The experimental results were successful. The algorithms were implemented first on a simulator, then on the autonomous mobile robot Yamabico-Ji. Given an initial and final configuration, the vehicle demonstrated the capability to safely achieve its goal.

Descriptors :   *ALGORITHMS, *CONTROL SYSTEMS, *SYSTEMS ENGINEERING, *ROBOTS, *MOTION, *SYSTEMS APPROACH, *AUTONOMOUS NAVIGATION, *HIGH LEVEL LANGUAGES, GLOBAL, ROBOTICS, TRACKING, THESES, PROBLEM SOLVING, PLANNING, MOBILE, SYMMETRY, SELF OPERATION, ROTATION, RIGIDITY.

Subject Categories : Computer Programming and Software
      Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE