Theoretical foundations of planning and navigation for autonomous robots | Zendy

Meystel A. | Zendy

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Theoretical foundations of planning and navigation for autonomous robots

Author(s) -

Meystel A.

Publication year - 1987

Publication title -

international journal of intelligent systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.291

H-Index - 87

eISSN - 1098-111X

pISSN - 0884-8173

DOI - 10.1002/int.4550020203

Subject(s) - computer science , robotics , class (philosophy) , controller (irrigation) , key (lock) , core (optical fiber) , representation (politics) , robot , artificial intelligence , control (management) , mobile robot , control engineering , engineering , telecommunications , computer security , politics , law , political science , agronomy , biology

In this article, theoretical foundations of planning and navigation systems and processes are outlined in a form applicable for autonomous robotics. the core of the theory is based upon methods developed in the team theory of decentralized stochastic control. A class of autonomous control systems is defined, and a problem of information representation is addressed for this class. A phenomenon of nesting is determined to be a key element for arranging design and control procedures for systems of intelligent control. A concept of hierarchical nested knowledge‐based controller is employed in this article which enables optimum control using nested dynamic programming. an application of this concept is unfolded for a system of knowledge‐based control of an autonomous mobile robot.

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