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Analysis of adaptive reactive control systems for autonomous mobile robots Brightwell, Gary This 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. The University of Waikato 1999 Thesis en https://hdl.handle.net/10289/14812 https://researchcommons.waikato.ac.nz/bitstreams/06f8b81a-de48-4caf-8c99-362f494ae6e5/download e720ab533a66cca5740987490ad6a31c https://researchcommons.waikato.ac.nz/bitstreams/825fb6c9-f7aa-4e27-8e6c-df7b7e0ffa40/download e14202ab27e47ddb00d33097327ba050 https://researchcommons.waikato.ac.nz/bitstreams/7089d01f-df74-4ed8-a538-0d2040091322/download 0a3d7bcb1a557992afff4ff8c5e688c4 All items in Research Commons are provided for private study and research purposes and are protected by copyright with all rights reserved unless otherwise indicated.