A Mobile Automaton: An Application of Artificial Intelligence Techniques
A Mobile Automaton: An Application of Artificial Intelligence Techniques
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DOI：
10.21236/ada459660
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发表时间：
1969
期刊：
影响因子：
--
通讯作者：
N. Nilsson
中科院分区：
文献类型：
--
作者：
N. Nilsson
介绍了一个应用人工智能技术开发集成机器人系统的研究项目。实验设备由一台SDS-940计算机和相关程序组成，控制一辆携带电视摄像机和其他传感器的轮式车辆。主要的重点是开发一个程序系统，用于处理来自车辆的感官数据，用于存储有关环境的相关信息，以及用于规划完成环境任务所需的运动顺序。我们目前的系统执行的一项典型任务需要机器人车辆（通过推动）其环境中的简单物体来重新排列。我们方法的一个新特点是使用正式的定理证明系统来计划高级函数的执行，作为其他可能较低级别的函数的序列。这些的执行反过来又需要在较低层次上进行额外的规划。该研究的主要主题是将必要的规划系统、世界模型和感觉处理系统整合成一个有效的整体，能够在真实环境中执行广泛的任务。
A research project applying artificial intelligence techniques to the development of integrated robot systems is described. The experimental facili ty consists of an SDS-940 computer and associated programs controlling a wheeled vehicle that carries a TV camera and other sensors. The primary emphasis is on the development of a system of programs for processing sensory data from the vehicle, for storing relevant information about the environment, and for planning the sequence of motor actions necessary to accomplish tasks in the environment. A typical task performed by our present system requires the robot vehicle to rearrange (by pushing) simple objects in its environment. A novel feature of our approach is the use of a formal theorem-proving system to plan the execution of high-level functions as a sequence of other, perhaps lower level, functions. The execution of these in turn requires additional planning at lower levels. The main theme of the research is the integration of the necessary planning systems, models of the world and sensory processing systems into an efficient whole capable of perf orming a wide range of tasks in a real environment.