Dynamic planning based control of autonomous machine

Abstract

Demand for more intelligent machines will increase in the future. One field of application will be environments dangerous for human workers. This requires intelligent machines capable of autonomously operating in unstructured environments, such as mines and construction sites. Problems related to control of autonomous machines are addressed with dynamic planning based control. The heart of the control scheme, hierarchically organized Planning-Executing-Monitoring-cycles, is presented as well as its implementation with a rule-based expert system.<>