Multiresolutional Pyramidal Knowledge Representation And Algorithmic Basis Of IMAS-2

摘要

This paper describes recent research results in the area of autonomous robotics. A multiresolutional (pyramidal) system of world representation is applied to the domain required for Intelligent Mobile Autonomous Systems for outdoor application. Problems of generalization, accuracy, and adequacy of representation are formulated for a system with vision and ultrasonic sensors. A method of nested hierarchical planning is applied for this system of representation. A Pilot with behavioral duality is proven to be efficient for a mobile robot. An execution controller is explored based upon a production system providing near-minimum time operation.