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Simulation of autonomous knowledge-based navigation in unknown two-dimensional environment with polygonal obstacles

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Date Issued:
1988
Summary:
The problem of finding optimal paths for a robot navigating in an environment where the position of each obstacle is precisely known has received much attention in the literature, however, the majority of applications problems for a robot would require it to navigate in a completely unknown. This paper focuses on an approach to solving the problem of robot navigation in an unknown, unstructured, two-dimensional environment where the positions of the polygonal obstacles were fixed in time. Few studies have reported on the utilization of an expert system to govern robot motion. This study relied on a knowledge-based expert system that interacted with lower-level procedures to carry out path finding and exploration functions. The expert-system shell used was OPS5 which ran on top of Lisp.
Title: Simulation of autonomous knowledge-based navigation in unknown two-dimensional environment with polygonal obstacles.
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Name(s): McKendrick, John DeMilly.
Florida Atlantic University, Degree grantor
Cheng, Linfu, Thesis advisor
College of Engineering and Computer Science
Department of Computer and Electrical Engineering and Computer Science
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1988
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 121 p.
Language(s): English
Summary: The problem of finding optimal paths for a robot navigating in an environment where the position of each obstacle is precisely known has received much attention in the literature, however, the majority of applications problems for a robot would require it to navigate in a completely unknown. This paper focuses on an approach to solving the problem of robot navigation in an unknown, unstructured, two-dimensional environment where the positions of the polygonal obstacles were fixed in time. Few studies have reported on the utilization of an expert system to govern robot motion. This study relied on a knowledge-based expert system that interacted with lower-level procedures to carry out path finding and exploration functions. The expert-system shell used was OPS5 which ran on top of Lisp.
Identifier: 14496 (digitool), FADT14496 (IID), fau:11294 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.E.)--Florida Atlantic University, 1988.
Subject(s): Robots--Motion
Expert systems (Computer science)
Robots--Motion--Computer simulation
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14496
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.