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Foundations for Learning and Adaptation in a Multi Degree of Freedom Unmanned Ground Vehicle
| 题名： | Foundations for Learning and Adaptation in a Multi Degree of Freedom Unmanned Ground Vehicle |
| 作者： | Bailey, Richard;Blackburn, Michael R.; |
| 关键词： | DEGREES OF FREEDOM, UNMANNED, GROUND VEHICLES, CONTROL, SPATIAL DISTRIBUTION, MOBILITY, DETECTORS, ROBOTS, MOTION, REACTIVITIES, ADAPTIVE SYSTEMS, PATTERNS, MOTIVATION, LEARNING, ONBOARD. |
| 摘要： | The real-time coordination and control of a many motion degrees of freedom (dof) unmanned ground vehicle under dynamic conditions in a complex environment is nearly impossible for a human operator to accomplish. Needed are adaptive on-board mechanisms to quickly complete sensor-effector loops to maintain balance and leverage. This paper contains a description of our approach to the control problem for a small unmanned ground vehicle with six dof in the three spatial dimensions. Vehicle control is based upon five fixed action patterns that exercise all of the motion dof of which the vehicle is capable. and five basic reactive behaviors that protect the vehicle during operation. The reactive behaviors demonstrate short-term adaptations. requirement for basic behavioral motivation. |
| 总页数： | 11 |
| 报告类型： | 科技报告 |
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