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<p>The  major  problem  addressed  by  this  research  is  how  to  develop  a  motion  control  algorithm  for  stable  and  precise  control  of  the  motion  of  an  autonomous  mobile  robot  The  approach  taken  was  to  clearly  define  the  robot's  motion  descriptions  and  to  design  a  high-level,  machine  independent  robot  control  language  called  MML  (Mode-based  Mobile  robot  Language).  The  results  are  that  the  robot can implement line to  line,  line  to  circle,  circle  to  circle  path  tracking  or  the  combinations  of these. Based  on  the  motion  control  algorithm  which  was  developed  in  this  thesis,  the  robot  is  able  to  use external  sensors  to  execute  complicated  missions  such  as  obstacle  avoidance  (sonar  is  used  in this thesis  work).
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<br>Subjects: NA</div>
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Lee, Ten-Min</div>
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