Showing papers on "Mobile robot navigation published in 1970"
TL;DR: This tutorial is intended to present what robot motion planning is, what has been achieved through it so far, and what could be reasonably expected from it in the near future.
Abstract: Manipulation and motion are the most common means that we use to act directly on the world. Vision and language serve us as inputs and we communicate with other human beings using speech, but we act on our surroundings by moving and manipulating. If AI is to deal with real life problems, autonomous intelligent systems will have to interact with the world in the way humans do. This tutorial is intended to present what robot motion planning is, what has been achieved through it so far, and what could be reasonably expected from it in the near future. The attention will be focused more on techniques for real-life applications than on theoretical formulations. Emphasis is on robot manipulators rather than on isolated moving objects, distinguising applications in 2D and 3D. The tutorial is organized on a performance basis instead of the usual methodological clasification. Three levels of performance are distinguishedr(a) Geometric theoretical algorithms, (b) approaches that work at a computer simulation level and (c) techniques that have been implemented on actual robots, or which deal with problems for real-life robots. Some of the covered topics are: collision detection, fundamentals of the problem, geometric algorithms, basic motion planning techniques, moving obstacles, multiple robot coordination, nonholonomic motion, planning with uncertainty and future directions. Throughout the tutorial many examples and case studies will serve to illustrate successful applications as well as their underlying theoretical techniques. Transactions on Information and Communications Technologies vol 1, © 1993 WIT Press, www.witpress.com, ISSN 1743-3517
7 citations
TL;DR: This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation in the form of a set of simple conditional statements composed of linguistic variables.
Abstract: A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a) Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system (b) Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c) Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables. Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior
7 citations
1 citations
TL;DR: This work deals with the elaboration of a very flexible and open architecture, which combines functional and behavioral aspects to cope with asynchronous events and to give to the robot reflexivity.
Abstract: Within the L.R.P. mobile robot project ROMEO (French acronym for an experimental autonomous robot) figure 1, we have developed a dedicated software architecture. This architecture is specifically designed to support manoeuvering requirements such as planning control and contacts management with the environment. After a presentation of the navigation problematic in a constrained environment for a non-holonomic robot, we describe our approach and the soft-and-hardware levels consequences deriving from it. Fundamentally we deal with the elaboration of a very flexible and open architecture, which combines functional and behavioral aspects to cope with asynchronous events and to give to the robot reflexivity.
1 citations