A framework for the natural-language-perception-based creative control of unmanned ground vehicles

Masoud Ghaffari; Xiaoqun Liao; Ernest L. Hall

doi:10.1117/12.542334

2 September 2004 A framework for the natural-language-perception-based creative control of unmanned ground vehicles

Masoud Ghaffari, Xiaoqun Liao, Ernest L. Hall

Proceedings Volume 5422, Unmanned Ground Vehicle Technology VI; (2004) https://doi.org/10.1117/12.542334
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

Mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. That is why mobile robotics problems are complex with many unanswered questions. To reach a high degree of autonomous operation, a new level of learning is required. On the one hand, promising learning theories such as the adaptive critic and creative control have been proposed, while on other hand the human brain’s processing ability has amazed and inspired researchers in the area of Unmanned Ground Vehicles but has been difficult to emulate in practice. A new direction in the fuzzy theory tries to develop a theory to deal with the perceptions conveyed by the natural language. This paper tries to combine these two fields and present a framework for autonomous robot navigation. The proposed creative controller like the adaptive critic controller has information stored in a dynamic database (DB), plus a dynamic task control center (TCC) that functions as a command center to decompose tasks into sub-tasks with different dynamic models and multi-criteria functions. The TCC module utilizes computational theory of perceptions to deal with the high levels of task planning. The authors are currently trying to implement the model on a real mobile robot and the preliminary results have been described in this paper.

Citation Download Citation

Masoud Ghaffari, Xiaoqun Liao, and Ernest L. Hall "A framework for the natural-language-perception-based creative control of unmanned ground vehicles", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); https://doi.org/10.1117/12.542334

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available