The IMAS intelligent mobile autonomous system is simulated as a hierarchy of decision-making for motion planning and control. IMAS is equipped with a hierarchy of vision and tactile sensors. The world description has a hierarchical structure as well as the production system or decision-making. The lowest level of the hierarchy is considered. Its world description is based on linguistic variables with fuzzy numerical values. Minimum-time commands are generated using fuzzy set operators. The system is simulated under the realistic conditions of an upcoming field test. The results of simulation have confirmed the broad capabilities of the autonomous vehicle to deal with unknown environment in a variety of complicated situations. Simulation confirmed the theoretical premises.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Editors||A. Saridis, Alex Meystel|
|Publisher||IEEE Computer Society|
|Number of pages||10|
|State||Published - Dec 1 1986|
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