Autonomous Mobile Robots: Vehicles with Cognitive Control
This book explores a new rapidly developing area of robotics. It describes the state of the art in intelligence control, applied machine intelligence, and research and initial stages of manufacturing autonomous mobile robots. A complete account of the theoretical and experimental results obtained during the last two decades together with some generalizations on Autonomous Mobile Systems are included in this book.
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Evolution of Autonomous Mobile Robots
Basic Theory of Cognitive Control
Structure of Cognitive Controller for
PART H NESTED HIERARCHICAL CONTROL
PART in INTELLIGENT MODULE
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actuator algorithm angle application Artificial Intelligence assigned Autonomous Mobile Robots autonomous robots Cartographer cognitive commands considered constraints control system convex cost cost-function decision-making defined determined developed discrete distance dynamic dynamic programming environment error evaluation example function fuzzy set given goal graph heuristic hierarchy hypergraph IEEE IMAS initial input intelligent control intelligent module isolines knowledge base linguistic machine intelligence Meystel minimum minimum-time motion control motion planning Navigator nested hierarchical node objects obstacles operation optimal optimum patches path planning performed Pilot Planner polygon position problem Proc procedure production system redundant resolution rules semantic network sensor shown in Fig simulation situation SMAP solution space structure subsystem successor terrain theory tion topoways trajectory traversability universe of discourse updating upper level variables vehicle velocity version space vertices vision VLINE world representation