Sonar-Based Behaviors for a Behavior-Based Mobile Robot

In So KWEON  Yoshinori KUNO  Mutsumi WATANABE  Kazunori ONOGUCHI  

IEICE TRANSACTIONS on Information and Systems   Vol.E76-D   No.4   pp.479-485
Publication Date: 1993/04/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Issue on Image Processing and Understanding)
mobile robot,  ultrasonic sensor,  navigation,  potential fields,  

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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.