Planning Systems for Autonomous Legged Vehicles
Final technical rept. Jul 1986-Aug 1987
ENVIRONMENTAL RESEARCH INST OF MICHIGANANN ARBOR
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This report describes efforts to integrate the areas of mobility research and autonomous navigation in support of the Adaptive Suspension Vehicle program. Experimental research on the locomotion of Nubian goats is summarized. A decision model of terrain navigation based upon the experimental results is reported. The Computer Simulation of Animal based upon the experimental results is reported. The Computer Simulation of Animal Navigation, which implements the decision model, is presented. The need for increased flexibility in planning systems is discussed, and a sliding vehicle simulation which incorporates some of the desired features the Blackboard Planning System is described. A paper discussing the fundamental notions of search and exploration in autonomous navigation is included. Keywords Mobility research Vehicle control Planning Navigation Blackboard architectures Decision systems Search and exploration.
- Surface Transportation and Equipment