The real-time coordination and control of a many motion degrees of freedom (dof) unmanned ground vehicle under dynamic conditions in a complex environment is nearly impossible for a human operator to accomplish. Needed are adaptive on-board mechanisms to quickly complete sensor-effector loops to maintain balance and leverage. This paper contains a description of our approach to the control problem for a small unmanned ground vehicle with six dof in the three spatial dimensions. Vehicle control is based upon five fixed action patterns that exercise all of the motion dof of which the vehicle is capable. and five basic reactive behaviors that protect the vehicle during operation. The reactive behaviors demonstrate short-term adaptations. requirement for basic behavioral motivation.


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    Title :

    Foundations for Learning and Adaptation in a Multi Degree of Freedom Unmanned Ground Vehicle


    Contributors:
    M. R. Blackburn (author) / R. Bailey (author)

    Publication date :

    2004


    Size :

    11 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





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