Intelligent Mobile Autonomous System (IMAS).

摘要

Abstract : This report concludes the research initiated in 1983 with the objective to contribute to fundamentals of the new emerging area of autonomous robotics. The goal of this research is to develop a theory of design and functioning of Intelligent Mobile Autonomous Systems (IMAS) to be utilized for solving various problems of combat engineering. It was the initiative of the research team to combine the fundamental research with the experimental analysis of the IMAS testbed. This work has premises different from those determined in the corresponding DARPA research. It started before the DARPA program (at January 1983), and is based upon the scientific principles, that at the time of the beginning of the research, were pioneering in this area. This research resulted in creation of a theory of nested hierarchical systems and in particular, of the structure of a multiresolutional nonhomogeneous system of representation interacting with a similarly built planning/control system (PLANNER-NAVIGATOR-PILOT-CONTROLLER). The hierarchical nested structure, together with the unique structure of knowledge-representation, as well as capabilities of minimum-time dynamic navigation, and the knowledge-based controller, are promising for IMAS, and are expected to be expanded into the domain of multilink manipulators as well. Testing has confirmed the viability of scientific premises, and has clarified the program of subsequent analysis and scientific research.