de Figueiredo, Rui J. P.2009-06-042009-06-041990Ciscon, Lawrence A.. "Hierarchical robot path planning using a distributed blackboard." (1990) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/13422">https://hdl.handle.net/1911/13422</a>.https://hdl.handle.net/1911/13422Hierarchical path planning techniques for Intelligent Autonomous Mobile Robots (IAMRs) attempt to subdivide the overall task of path planning into several layers. This subdivision is made more difficult by the physical robot's computational architecture. The most important problem with classic hierarchies is their inability to cope with a diversity of environments and obstacles. In this research, we present a hierarchical path planning paradigm which uses a distributed blackboard architecture as its foundation. We subdivide the path planning problem into three levels: a global path planner, a local planner, and a set of constraint analyzers. By creating a uniform distributed blackboard that spans many processors in a network, we have formed the basis of a uniform operating environment for experimenting with layered path planning, as well as other mobile robot issues. And by dividing the planning into three layers instead of two, the system is able to handle much more complicated and diverse environments.131 p.application/pdfengCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.ElectronicsElectrical engineeringComputer scienceThesisThesis E.E. 1990 Ciscon