A computer simulation study of an expert system for walking machine motion planning
Authors
Goodpasture, Richard Paul
Advisors
McGhee, Robert B.
Second Readers
Cristi, Roberto
Subjects
Robotics
Walk motions
Adaptive Suspension Vehicle
Robot motion planning
Walk motions
Adaptive Suspension Vehicle
Robot motion planning
Date of Issue
1987-12
Date
December 1987
Publisher
Monterey, California: U.S. Naval Postgraduate School
Language
en_US
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.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
NPS-52-87-049
Sponsors
Ohio State University
Funding
RF Project No, 716520
RF Purchase Order No. 496549
Format
101 p.: ill.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.