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Knowledge-based control for robot self-localization
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Bennett, Bonnie Kathleen Holte |
| Copyright Year | 1993 |
| Description | Autonomous robot systems are being proposed for a variety of missions including the Mars rover/sample return mission. Prior to any other mission objectives being met, an autonomous robot must be able to determine its own location. This will be especially challenging because location sensors like GPS, which are available on Earth, will not be useful, nor will INS sensors because their drift is too large. Another approach to self-localization is required. In this paper, we describe a novel approach to localization by applying a problem solving methodology. The term 'problem solving' implies a computational technique based on logical representational and control steps. In this research, these steps are derived from observing experts solving localization problems. The objective is not specifically to simulate human expertise but rather to apply its techniques where appropriate for computational systems. In doing this, we describe a model for solving the problem and a system built on that model, called localization control and logic expert (LOCALE), which is a demonstration of concept for the approach and the model. The results of this work represent the first successful solution to high-level control aspects of the localization problem. |
| File Size | 1130698 |
| Page Count | 16 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19930016774 |
| Archival Resource Key | ark:/13960/t17m56c6n |
| Language | English |
| Publisher Date | 1993-01-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Position Location Global Positioning System Navigation Aids Mars Sample Return Missions Problem Solving Autonomy Robotics Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
