Situationally driven local navigation for mobile robots

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dc.contributor.authorSlack, Marc G.en
dc.contributor.committeechairMiller, David P.en
dc.contributor.committeememberNadler, Mortonen
dc.contributor.committeememberRoach, John W.en
dc.contributor.committeememberHenry, Sallie M.en
dc.contributor.committeememberShaffer, Clifford A.en
dc.contributor.departmentComputer Science and Applicationsen
dc.date.accessioned2014-03-14T21:16:45Zen
dc.date.adate2008-07-28en
dc.date.available2014-03-14T21:16:45Zen
dc.date.issued1990en
dc.date.rdate2008-07-28en
dc.date.sdate2008-07-28en
dc.description.abstractFor mobile robots to autonomously accommodate dynamically changing navigation tasks in a goal-directed fashion, they must employ navigation plans. Any such plan must provide for the robot’s immediate and continuous need for guidance while remaining highly flexible in order to avoid costly computation each time the robot’s perception of the world changes. Due to the world’s uncertainties, creation and maintenance of navigation plans cannot involve arbitrarily complex processes, as the robot’s perception of the world will be in constant flux, requiring modifications to be made quickly if they are to be of any use. This work introduces Navigation Templates (or NaTs) which are building blocks for the construction and maintenance of rough navigation plans which capture the relationship that objects in the world have to the current navigation task. By encoding only the critical relationship between the objects in the world and the navigation task, a NaT-based navigation plan is highly flexible; allowing new constraints to be quickly incorporated into the plan and existing constraints to be updated or deleted from the plan. To satisfy the robot’s need for immediate local guidance, the NaTs forming the current navigation plan are passed to a transformation function. The transformation function analyzes the plan with respect to the robot’s current location to quickly determine (a few times a second) the locally preferred direction of travel. This dissertation presents NaTs and the transformation function as well as the needed support systems to demonstrate the usefulness of the technique for controlling the actions of a mobile robot operating in an uncertain world. ¹ This work was supported in part by a grant from the Jet Propulsion Laboratory under a contract from the National Aeronautics and Space Administration, and by a grant from the Naval Surface Weapons Center.en
dc.description.degreePh. D.en
dc.format.extentix, 193 leavesen
dc.format.mediumBTDen
dc.format.mimetypeapplication/pdfen
dc.identifier.otheretd-07282008-135258en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-07282008-135258/en
dc.identifier.urihttp://hdl.handle.net/10919/38949en
dc.language.isoenen
dc.publisherVirginia Techen
dc.relation.haspartLD5655.V856_1990.S634.pdfen
dc.relation.isformatofOCLC# 22251426en
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject.lccLD5655.V856 1990.S634en
dc.subject.lcshRobots -- Motion -- Researchen
dc.titleSituationally driven local navigation for mobile robotsen
dc.typeDissertationen
dc.type.dcmitypeTexten
thesis.degree.disciplineComputer Science and Applicationsen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.leveldoctoralen
thesis.degree.namePh. D.en

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