A multi-level planning and navigation system for a mobile robot: a first approach to HILARE

Authors:
Georges Giralt;Ralph Sobek;Raja Chatila
Affiliations:
Laboratoire d'Automatique et d'Analyse des Systemes du CNRS, Toulouse, France;University of California, Berkeley, California and Laboratoire d'Automatique et d'Analyse des Systemes du CNRS, Toulouse, France;Laboratoire d'Automatique et d'Analyse des Systemes du CNRS, Toulouse, France
Venue:
IJCAI'79 Proceedings of the 6th international joint conference on Artificial intelligence - Volume 1
Year:
1979

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Abstract

This paper describes the current state of HILARE: a modular progressively-built mobile robot aimed at general robotics research. The computer organization comprises of local mini and micro processors coupled with a remote time-shared system acting as a consulting facility. A multi-level decision-making system is presented with world models, inference rules, and algorithms particular to each level. The navigation planner uses a geometric model wherein 2-space is partitioned into polygonal areas based on perceptual and/or initial information. A cost function is proposed which provides support for optimal or E-optimal path finding.