Sonar-Based Behaviors for a Behavior-Based Mobile Robot

In So KWEON; Yoshinori KUNO; Mutsumi WATANABE; Kazunori ONOGUCHI

Sonar-Based Behaviors for a Behavior-Based Mobile Robot

In So KWEON, Yoshinori KUNO, Mutsumi WATANABE, Kazunori ONOGUCHI

Full Text Views

0

Share
Cite this

Summary :

We present a navigation system using ultrasonic sensors for unknown and dynamic indoor environments. To achieve the robustness and flexibility of the mobile robot, we develop a behavior-based system architecture, consisting of multi-layered behaviors. Basic behaviors required for the navigation of a mobile robot, such as, avoiding obstacles, moving towards free space, and following targets, are redundantly developed as agents and combined in a behavior-based system architecture. An extended potential filed method is developed to produce the appropriate velocity and steering commands for the behaviors of the robot. We demonstrate the capabilities of our system through real world experiments in unstructured dynamic office environments using an indoor mobile robot.

Publication: IEICE TRANSACTIONS on Information Vol.E76-D No.4 pp.479-485

Publication Date: 1993/04/25

Publicized

Online ISSN

DOI

Type of Manuscript: Special Section PAPER (Special Issue on Image Processing and Understanding)

Category

Cite this

Copy

In So KWEON, Yoshinori KUNO, Mutsumi WATANABE, Kazunori ONOGUCHI, "Sonar-Based Behaviors for a Behavior-Based Mobile Robot" in IEICE TRANSACTIONS on Information, vol. E76-D, no. 4, pp. 479-485, April 1993, doi: .
Abstract: We present a navigation system using ultrasonic sensors for unknown and dynamic indoor environments. To achieve the robustness and flexibility of the mobile robot, we develop a behavior-based system architecture, consisting of multi-layered behaviors. Basic behaviors required for the navigation of a mobile robot, such as, avoiding obstacles, moving towards free space, and following targets, are redundantly developed as agents and combined in a behavior-based system architecture. An extended potential filed method is developed to produce the appropriate velocity and steering commands for the behaviors of the robot. We demonstrate the capabilities of our system through real world experiments in unstructured dynamic office environments using an indoor mobile robot.
URL: https://globals.ieice.org/en_transactions/information/10.1587/e76-d_4_479/_p

Copy

@ARTICLE{e76-d_4_479,
author={In So KWEON, Yoshinori KUNO, Mutsumi WATANABE, Kazunori ONOGUCHI, },
journal={IEICE TRANSACTIONS on Information},
title={Sonar-Based Behaviors for a Behavior-Based Mobile Robot},
year={1993},
volume={E76-D},
number={4},
pages={479-485},
abstract={We present a navigation system using ultrasonic sensors for unknown and dynamic indoor environments. To achieve the robustness and flexibility of the mobile robot, we develop a behavior-based system architecture, consisting of multi-layered behaviors. Basic behaviors required for the navigation of a mobile robot, such as, avoiding obstacles, moving towards free space, and following targets, are redundantly developed as agents and combined in a behavior-based system architecture. An extended potential filed method is developed to produce the appropriate velocity and steering commands for the behaviors of the robot. We demonstrate the capabilities of our system through real world experiments in unstructured dynamic office environments using an indoor mobile robot.},
keywords={},
doi={},
ISSN={},
month={April},}

Copy

TY - JOUR
TI - Sonar-Based Behaviors for a Behavior-Based Mobile Robot
T2 - IEICE TRANSACTIONS on Information
SP - 479
EP - 485
AU - In So KWEON
AU - Yoshinori KUNO
AU - Mutsumi WATANABE
AU - Kazunori ONOGUCHI
PY - 1993
DO -
JO - IEICE TRANSACTIONS on Information
SN -
VL - E76-D
IS - 4
JA - IEICE TRANSACTIONS on Information
Y1 - April 1993
AB - We present a navigation system using ultrasonic sensors for unknown and dynamic indoor environments. To achieve the robustness and flexibility of the mobile robot, we develop a behavior-based system architecture, consisting of multi-layered behaviors. Basic behaviors required for the navigation of a mobile robot, such as, avoiding obstacles, moving towards free space, and following targets, are redundantly developed as agents and combined in a behavior-based system architecture. An extended potential filed method is developed to produce the appropriate velocity and steering commands for the behaviors of the robot. We demonstrate the capabilities of our system through real world experiments in unstructured dynamic office environments using an indoor mobile robot.
ER -