Autonomous Mobile Robots: Control, planning, and architectureS. Sitharama Iyengar, Alberto Elfes IEEE Computer Society Press, 1991 - Autonomous robots |
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Contents
Incorporating ClosedChains | 67 |
Hierarchical Planning Involving Deadlines Travel Time and Resources | 117 |
A Distributed Control Architecture for an Autonomous Mobile Robot | 135 |
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action active actuated algorithm application approach architecture Artificial Intelligence autonomous mobile robot autonomous robot autonomous vehicle behavior blackboard camera Carnegie Mellon University components computer vision Conf constraints control system coordinate system database described detection determined developed dynamic edge environment equations error example execution feedback Figure FORBIN function gait goal IEEE implemented input Jacobian matrix kinematic LATHE locomotion machine manipulator matrix mechanism method module monitoring motion moving navigation node nonroad object obstacle avoidance operation parameters path planning pattern perception performed pixels planner position problem Proc processor range real-time representation road robot system Robotics and Automation Robotics Institute rover schema Section segments sensing sensor data sequence simulation solution sonar space specific speed stereo structure subsystem task temporal database terrain tion trajectory transformation variables vector vision system wheel velocities world model