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dc.contributor.authorBrightwell, Gary
dc.date.accessioned2022-04-04T23:24:48Z
dc.date.available2022-04-04T23:24:48Z
dc.date.issued1999
dc.identifier.urihttps://hdl.handle.net/10289/14812
dc.description.abstractThis thesis presents techniques developed for the robust reactive control of autonomous mobile robots navigating in complex environments. Traditional approaches have adopted a top-down perspective by focusing on the reasoning part of path-planning. In contrast, this thesis tackles planning from a bottom-up perspective which is characterised by a tight coupling between perception and action. With this view in mind, control systems ranging from pure reactive controllers to controllers that can construct spatial representations of the environment are investigated. Hand-designed techniques as well as evolutionary approaches are developed and analysed. Quantitative simulation experiments measuring the performance of each control system are presented along with a new algorithm for developing topological maps of the environment from laser range-finder sensory information.
dc.format.mimetypeapplication/pdf
dc.language.isoen
dc.publisherThe University of Waikato
dc.rightsAll items in Research Commons are provided for private study and research purposes and are protected by copyright with all rights reserved unless otherwise indicated.
dc.titleAnalysis of adaptive reactive control systems for autonomous mobile robots
dc.typeThesis
thesis.degree.grantorThe University of Waikato
thesis.degree.levelDoctoral
thesis.degree.nameDoctor of Philosophy (PhD)
dc.date.updated2022-04-04T23:20:39Z
pubs.place-of-publicationHamilton, New Zealanden_NZ


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