Behavior-based mobile robot using active sensor fusion
説明
The authors present a navigation system using multiple sensors for unknown and dynamic indoor environments. To achieve robustness and flexibility in the mobile robot, a behavior-based system architecture is developed consisting of multilayered behaviors using multiple sensors that were ultrasonic sensors and a video camera. Basic behaviors required for navigation, such as avoiding obstacles, moving toward free space, and following targets are redundantly developed as agents and combined in a behavior-based system architecture. The capabilities of the system were demonstrated in unstructured real office environments using an indoor mobile robot. >
収録刊行物
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- Proceedings 1992 IEEE International Conference on Robotics and Automation
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Proceedings 1992 IEEE International Conference on Robotics and Automation 1675-1682, 2003-01-02
IEEE Comput. Soc. Press