First Advisor

Marek A. Perkowski

Term of Graduation

Winter 1992

Date of Publication

2-7-1992

Document Type

Thesis

Degree Name

Master of Science (M.S.) in Electrical and Computer Engineering

Department

Electrical Engineering

Language

English

Subjects

Artificial intelligence -- Data processing, Robots -- Control systems, Mobile robots, Wheelchairs, Pattern recognition systems

DOI

10.15760/etd.6216

Physical Description

1 online resource (3, x, 231 pages)

Abstract

In the design of autonomous mobile robots, databases have been used mainly to store information on the environment in which the device is to operate. For most of the models and ready systems, the database when used, is not a stand alone component in the system, rather it is only intended to keep static information on the disposition and properties of objects on the map.

In this thesis is implemented an intelligent database. It combines static facts to build more information. An intelligent database such as this one will be a plus for an intended autonomous machine such as the PSUBOT wheelchair being developed in the Department of Electrical Engineering. The database will make intelligent decisions as an intelligent function of the central control module of the system (i.e, find a global optimum path, recognize details in the building, support sensory integration). The database will also serve as the core of pattern recognition and localization of the wheelchair inside the building.

The thesis starts with the definition of a model of the environment in which the wheelchair is confined to operate, then a relational database is designed to keep this information. The second part of the thesis concentrates on finding a global shortest path using knowledge-based method combined with the Djikstra's shortest path method. The third part of the development consists of the implementation of image matching.

Rights

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Comments

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Persistent Identifier

https://archives.pdx.edu/ds/psu/25244

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