CLIPS implementation of a knowledge-based distributed control of an autonomous mobile robot

Akram A. Bou-Ghannam; Keith L. Doty

doi:10.1117/12.45493

1 March 1991 CLIPS implementation of a knowledge-based distributed control of an autonomous mobile robot

Akram A. Bou-Ghannam, Keith L. Doty

Proceedings Volume 1468, Applications of Artificial Intelligence IX; (1991) https://doi.org/10.1117/12.45493
Event: Orlando '91, 1991, Orlando, FL, United States

Abstract

We implement an architecture for the planning and control of an intelligent autonomous mobile robot which consists of concurrently running modules forming a hierarchy of control in which lower-level modules perform 'reflexive' tasks while higher-level modules perform tasks requiring greater processing of sensor data. A knowledge-based system performs the task planning and arbitration of lower-level behaviors. This system reasons about behavior selection (fusion) based on its current knowledge and the situation at hand provided by monitoring the status from lower-level behaviors and the map builder. We implement this knowledge-based planning module in CLIPS (C Language Implementation Production System), a rule-based expert systems shell. CLIPS is written in and fully integrated with the C language providing high probability and ease of integration with external systems. We discuss implementation issues including the implementation of control strategy in CLIPS rules and interfacing to other modules through the use of CLIPS user-defined external functions.

Citation Download Citation

Akram A. Bou-Ghannam and Keith L. Doty "CLIPS implementation of a knowledge-based distributed control of an autonomous mobile robot", Proc. SPIE 1468, Applications of Artificial Intelligence IX, (1 March 1991); https://doi.org/10.1117/12.45493

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