목차 일부
CONTENTS
Foreword ... ⅶ
PART Ⅰ. PRIMER ON AUTONOMOUS MOBILITY
Chapter 1.Intelligent Motion Control : An Introduction ... 3
1.1 Autonomous Robotics ... 3
1.2 An Attempt to Define Intellige...
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목차 전체
CONTENTS
Foreword ... ⅶ
PART Ⅰ. PRIMER ON AUTONOMOUS MOBILITY
Chapter 1.Intelligent Motion Control : An Introduction ... 3
1.1 Autonomous Robotics ... 3
1.2 An Attempt to Define Intelligence ... 5
1.3 An Attempt to Understand Intelligence Implicitly ... 9
1.4 It is Hard to program the Motion of a Redundant System ... 14
1.5 Paradigms in Science and Technology ... 17
1.6 Technical Requirements and Specifications of Intellingent Autonomous Machines ... 22
1.7 What to Expect from an Intelligent Machine ... 25
Chapter 2. Evolution of Autonomous Mobile Robots ... 30
2.1 Introduction ... 30
2.2 Evolution of AMR ... 32
2.2.1 Wheeled AMR ... 33
2.2.2 Legged AMR ... 51
2.2.3 Underwater AMR ... 59
2.2.4 Airborne AMR ... 61
2.2.5 Recent developments ... 61
2.3.Structures of Intelligence ... 64
2.3.1 Problems and expertise in AMR area ... 64
2.3.2 Knowledge-based planning/control systems for AMR ... 68
References ... 72
Chapter 3. Elementary Concepts of Autonomous Mobility : Problems and Technical Requirements ... 76
3.1 Problem of Intelligent Mobility ... 76
3.2 Concept of Autonomous Intelligence ... 78
3.3 Structure and Problems of Integration ... 83
References ... 91
Chapter 4. Basic Theory of Cognitive Control ... 92
4.1 Structural Model of AMR Cognitive Controller ... 92
4.2 World Representation ... 98
4.3 Imaginary Worlds ... 98
4.4 Production System for Motion Planning ... 108
References ... 113
Chapter 5. Structure of Cognitive Controller for an Autonomous Mobile Robot ... 115
5.1 General Description ... 115
5.2 Operation of the Subsystems ... 119
5.2.1 Motion control ... 119
5.2.2 Sensor system(perception) ... 123
5.2.3 Knowledge system ... 125
References ... 132
PART Ⅱ. NESTED HIERARCHICAL CONTROL
Chapter 6. Nested Hierarchical Controller for Cognitive AMR ... 135
6.1 Introduction ... 135
6.1.1 Focus of concentration ... 135
6.1.2 Control solutions to be considered ... 135
6.1.3 Knowledge organization for control purposes ... 136
6.1.4 Tree hierarchies vs stem hierarchies ... 140
6.2 Autonomous Control Systems(ACS) ... 141
6.2.1 Descriptionof ACS : demand and application ... 141
6.2.2 Strcture of ACS ... 142
6.2.3 A typical problem to be resolved by ACS ... 142
6.2.4 An approach to dealing with this type of problems ... 144
6.2.5 Decision-making processes of planning : control procedures ... 144
6.2.6 Nested hierarchical information refinement ... 147
6.2.7 Substitutionof positioning by tracking ... 147
6.2.8 Attempts to formulate a control problem for ACS ... 149
6.2.9 Nested hierarchical production system ... 154
6.3 Principles of Information Structure for Autonomous Control Systems(ACS) ... 156
6.3.1 Postulate of multiple representation ... 156
6.3.2 partitioning of representations ... 157
6.3.3 Representation of time ... 159
6.3.4 Knowledge bases : Semantic networks with context oriented interpretation ... 159
6.3.5 Tesselated knowledge bases ... 161
6.3.6 Resolution of knowledge ... 161
6.3.7 Generalization : belonging to a meaningful class ... 162
6.3.8 Look-up tables : a link betweenthe accepted paradigm and the automata theory ... 164
6.3.9 Special role of attention ... 164
6.3.10 Generalization oriented tesselation ... 165
6.3.11 Complexity of tesselation : e-entropy ... 165
6.3.12 Graph of the semantic network ... 166
6.3.13 Mechnism of recursive generalization ... 167
6.3.14 Practice of class recognition ... 167
6.3.15 Hierarchical vs heterarchical bonds ... 168
6.3.16 Pairs of adjacent levels ... 169
6.3.17 Built-in combinatorial operators : team of decision-makers ... 169
6.3.18 Using search for generating alternatives ... 170
6.3.19 Accuracy of representation ... 171
6.3.20 Evaluation of the size of a tile ... 172
6.3.21 Resolution of representation ... 173
6.3.22 Accuracy vs resolution ... 174
6.3.23 Nondeterministic nested referencing ... 175
6.4 Nesting and Its Efficiency ... 177
6.4.1 The phenomenon of nesting ... 177
6.4.2 An example of nesting ... 178
6.4.3 Efficiency of nesting ... 181
6.4.4 Storing the nested representation ... 183
6.4.5 Decision-making processes in a nested hierarchical structure ... 183
6.5 Hierachical Nested Decision-Making ... 185
6.5.1 General properties of the structure ... 185
6.5.2 Nesting of optimum decisions ... 186
6.5.3 Commutative diagram for a nested hierarchical controller ... 186
6.5.4 Decomposition of automata ... 187
6.6 Multiresolutional(Nested Hierarchical) Dynamic Programming in ACS ... 187
6.6.1 Optimum control of ACS ... 187
6.6.2 Generalization of the ACS decision-making processes ... 189
6.6.3 Extension of the Bellmans optimality principle ... 190
6.6.4 Strategies contemplated for ACS ... 191
6.6.5 Nested dynamic programming ... 192
6.7 Nested Hierarchical ACS ... 195
6.7.1 Subsystems ... 195
6.7.2 Intelligent module ... 197
6.7.3 Perception stratified by resolution ... 198
6.7.4 Maps of the world stratifide by resolution ... 199
6.7.5 Control stratijied by resolution into planning-navigating-piloting ... 200
6.7.6 Thesaural knowledge base ... 201
6.8 Discussion ... 202
6.8.1 Planning ... 202
6.8.2 Attention driven planning ... 202
6.8.3 Joint Planning : control process ... 203
6.8.4 Prediction ... 204
6.8.5 Contingencies ... 204
6.8.6 Compute architectures ... 205
6.8.7 Historical remarks ... 205
References ... 206
PART Ⅲ. INTELLIGENT MODULE
Chapter 7. Planner ... 213
7.1 World Description at the Planners Resolution Level ... 213
7.1.1 Characteristics of the PLANNERs map ... 214
7.1.2 Patches and boundaries ... 216
7.1.3 Singular objects ... 217
7.1.4 Dealing with uncertainties ... 217
7.2 Algorithms of Geometrical Planning ... 218
References ... 235
Chapter 8. Navigator ... 236
8.1 Geometrical Navigation(G-Navigation) ... 237
8.1.1 Geometrical problems that arise at the Navigator level ... 237
8.1.2 Geometrical Navigator(G-Navigation) ... 239
8.1.3 Wandering Standpoint Algorithm(WSA) ... 243
8.1.4 General algorithm of Geometrical Navigation ... 248
8.1.5 Successor generation using sectors ... 250
8.1.6 Graph search ... 251
8.1.7 Implementation of Geometrical Navigator ... 252
8.2 Dynamic Navigation(D-Navigation) ... 253
8.2.1 Problem of Dynamic Navigation ... 253
8.2.2 "Slalom" situations ... 260
8.2.3 Topological passageways ... 265
8.2.4 Mathematical model of the moving robots ... 271
8.2.5 Dynamic programming in a sequential machine ... 275
8.2.6 Suboptimal algorithms of G/D Navigation ... 277
8.2.7 Implementation of Geometrical/Dynamical Navigation ... 281
8.3 Navigation in 2½-D Space ... 290
8.3.1 Representation for 2½-D world ... 291
8.3.2 Isolines ... 291
8.3.3 Representation of obstacles ... 296
8.3.4 Polygonization of isolines ... 297
8.3.5 Algorithm of navigation for 2½-D wold ... 302
8.3.6 Experimental results and discussion ... 307
8.4 Linguistic Navigation(L-Navigation) ... 309
8.4.1 Contingency analysis ... 309
8.4.2 Scheme of the Linguistic Navigator(LN) ... 313
8.4.3 WSA(G) for pictorial part of LN ... 321
References ... 323
Chapter 9. Pilot ... 326
9.1 Concept of Knowledge-Based PILOT ... 326
9.1.1 General description ... 327
9.1.2 Operation of IMAS ... 328
9.2 Knowledge-based structure of PILOT ... 330
9.3 Database : Representation and Modeling of PILOTs world ... 333
9.3.1 PILOTs perception ... 333
9.3.2 Terrain-image plane mapping ... 334
9.3.3 Classification of Pilots Information ... 340
9.3.4 Determining the vocabulary size ... 342
9.3.5 Quantitative Evaluation ... 343
9.4 Dealing with Imprecise Observations ... 346
9.5 Rule Base : Control Prescriptions ... 347
9.5.1 Rule causality relationship ... 347
9.5.2 Analytic model verbalization ... 348
9.6 Rule Evaluation ... 350
9.6.1 Fuzzy decision-making ... 350
9.6.2 Selection of minimum-time action ... 354
9.6.3 The operation of reporter ... 357
9.7 Pilots Language ... 359
9.8 Discussion of Results ... 364
References ... 369
Chapter 10. Cartographer ... 370
10.1 Functions ... 371
10.2 Information to Deal With ... 379
10.3 The Representation Model of Descriptive Information in Cartographer ... 381
10.3.1 General framework ... 381
10.3.2 Characteristics of the descriptive knowledge base ... 386
10.3.3 Example : creating a world description ... 387
10.3.4 Implementation ... 393
10.4 Map Decomposition for Planner ... 395
10.4.1 Structure of the system ... 395
10.4.2 Definitions ... 396
10.4.3 Graph formation ... 397
10.4.4 Mutual cutting of intrusion/protrusion pairs ... 400
10.4.5 Convex-convex case ... 408
10.5 Map Updating ... 409
10.5.1 Sensor overview ... 411
10.5.2 General approach to updating ... 412
10.5.3 Relationships between SMAP and INM ... 417
10.5.4 General algorithm of updating ... 420
10.5.5 Example of updating ... 422
References ... 422
Chapter 11. Actuation Control System ... 424
11.1 First Approach to Optimum Controller ... 424
11.2 An Example of an ACS for Indoor IMAS ... 425
11.3 Optimum Motion of IMAS ... 429
11.3.1 Problem of optimum control of actuation ... 429
11.3.2 Conditions of optimization ... 431
11.3.3 Simplifying assumptions ... 432
11.3.4 Mathematical statement of a problem of optimum control ... 432
11.3.5 Notes on final accuracy ... 433
11.3.6 Example 1.System with energy losses ... 433
11.3.7 Example 2.System with energy losses and final accuracy ... 434
11.4 Motion Control in a Stochastic Interval ... 436
11.4.1 Mathematical model development ... 436
11.4.2 Minimum estimated time motion control ... 438
11.4.3 Actuation controller ... 444
11.5 Calculation of the Switching Times ... 448
11.6 Design, Construction, and Implementation of IMAS Actuation Controller System ... 451
11.6.1 General description of ACS for IMAS ... 451
11.6.2 Design criteria ... 451
11.6.3 IMAS ACS hardware ... 452
11.6.4 IMAS ACS software ... 455
References ... 458
Chapter 12. Simulation and Testing ... 460
12.1 Structure of the Simulation System ... 460
12.1.1 World representation ... 461
12.1.2 Functional description of modules ... 463
12.2 Results of the Simulation ... 465
12.3 Testing : Objectives ... 495
12.3.1 General description ... 495
12.3.2 Testing the operation of geometrical navigator ... 502
12.3.3 Testing the Pilot operation ... 503
12.4 Program of Testing Activities ... 505
12.4.1 Seneors ... 505
12.4.2 Main computer ... 507
12.4.3 Actuation controller ... 508
12.4.4 Interface circuits ... 508
12.4.5 Communication ... 508
12.5 Description of the Activities ... 509
12.5.1 Actuation controller ... 509
12.5.2 Measurements and analysis of dynamic characteristic development of dynamic response models ... 510
12.5.3 Development of the Pilot ... 511
12.5.4 Vision system ... 511
12.5.5 Computing system development ... 511
12.5.6 Integrated location and navigation system ... 512
12.5.7 Software modifications and adjustments ... 512
12.5.8 Development of dynamic navigator ... 512
12.5.9 Development of descriptive, 2-½D geometrical cartographer ... 513
12.5.10 Integrated field tests ... 513
Afterword : Further Research and Development ... 514
Glossary ... 521
Index ... 543
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