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dc.contributor.advisorKanayama, Yutaka
dc.contributor.authorYun, Seok Jun
dc.dateSeptember 1995
dc.date.accessioned2013-08-13T22:07:10Z
dc.date.available2013-08-13T22:07:10Z
dc.date.issued1995-09
dc.identifier.urihttp://hdl.handle.net/10945/35223
dc.description.abstractThe 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.en_US
dc.description.urihttp://archive.org/details/thelocalmotionpl1094535223
dc.format.extent63 p.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis 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.en_US
dc.titleThe local motion planning for an autonomous mobile roboten_US
dc.typeThesisen_US
dc.contributor.departmentComputer Science
dc.description.funderNAen_US
dc.description.recognitionNAen_US
dc.description.serviceRepublic of Korea Army author.en_US
etd.thesisdegree.nameM.S. in Computer Scienceen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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