A navigation system framework for a semi-autonomous mobile robot

摘要

A description is given of a project which is aimed at developing a mobile robotic aid for the severely motor handicapped. The ultimate objective is to produce a system which can accomplish a desired task semi-autonomously, i.e. given only simple high-level commands from a user. An essential component of such a system is a facility for guiding the robot within a household environment. Toward this end, a series of navigation and path-planning routines have been developed using artificial-intelligence search techniques within a LISP programming environment.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>