KNOWLEDGE-BASED SYSTEM FRAMEWORK FOR ENVIRONMENTAL PERCEPTION IN A SUBSEA ROBOTICS CONTEXT.

George T. Russell, David M. Lane

Research output: Contribution to journalArticle

Abstract

A knowledge-based system framework is described that provides the infrastructure necessary to combine the adaptive guidance and control, sonar perpection, 3-D world interpretation, and man-machine interface functions for an autonomous submersible. The component parts of such a robotic system are discussed, followed by a description of the information and processing subsystems that are required. The framework within which they are implemented uses the architecture of a blackboard system to specify a modular unit (the blackboard cell) capable of manipulating the diverse types of process and uncertain information encountered. Interconnection of these modular units uses a standard interface configured as a globally accessible blackboard. As a means of evaluation, a software implementation of the architecture is applied to the sonar perception subsystem. The image processing tools at the heart of a simple knowledge base are described. The results show a small sequence of system execution, and some examples of candidate object and shadow areas derived from real sonar images are presented. It is demonstrated that the blackboard cell allows a rich feedback structure to the flow of information and processes. The feedback structure allows both model and data-driven actions to support the formation of competitive and cooperative solutions.

Original languageEnglish
Pages (from-to)401-412
Number of pages12
JournalIEEE Journal of Oceanic Engineering
VolumeOE-11
Issue number3
Publication statusPublished - Jul 1986

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