This study investigates the utility of rule based coordination of motion for ternary-type terrain locomotion by a hexapod walking machine. The ternary-type terrain considered is composed of permitted areas, forbidden areas, and ditch areas. The logic for generating motion coordination is written in Prolog while the simulation of the terrain and of the vehicle kinematics, as well as low-level on-board computer functions, are written in extended Common Lisp and Flavors. It is found that this approach, which utilizes multiple programming paradigms for programming motion coordination logic and simulation objects, results in code that is much easier to understand and modify than previous motion coordination programs written in Pascal. Thus, the code development effort and time are greatly reduced. The authors believe that both the methodology and the motion coordination logic presented in this report possess sufficient merit to justify full-scale physical testing in the Adaptive Suspension Vehicle at the Ohio State University ; Prepared for: the Naval Postgraduate School, Monterey, CA in conjunction with research funded by the Ohio State University Research Foundation. ; http://archive.org/details/rulebasedmotionco00kwak ; Ohio State University Research Fund Foundation. ; NA ; Approved for public release; distribution is unlimited.
Rule-Based Motion Coordination For the Adaptive Suspension Vehicle on Ternary-Type Terrain
1990-12-01
NPS-CS-91-006
Paper
Elektronische Ressource
Englisch
DDC: | 629 |
All-terrain adaptive manned planet vehicle and suspension
Europäisches Patentamt | 2023
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