Sonar-Based Behaviors for a Behavior-Based Mobile Robot (Special Issue on Image Processing and Understanding)
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概要
- 論文の詳細を見る
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.
- 社団法人電子情報通信学会の論文
- 1993-04-25
著者
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Kuno Yoshinori
Research And Development Center Toshiba Corporation
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WATANABE Mutsumi
Kansai Research Laboratories, Toshiba Corporation
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ONOGUCHI Kazunori
Kansai Research Laboratories, Research and Development Center, Toshiba Corporation
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Kweon InSo
Research and Development Center, TOSHIBA CORPORATION
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Watanabe Mutsumi
Kansai Research Laboratories Toshiba Corporation
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Watanabe Mutsumi
Kansai Research Laboratory Toshiba Corporation
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Onoguchi Kazunori
Kansai Research Laboratories Research And Development Center Toshiba Corporation
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Onoguchi Kazunori
Kansai Research Laboratory Toshiba Corporation
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Kweon Inso
Research And Development Center Toshiba Corporation:department Of Automation And Design Engineering
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- Automatic Focusing and Astigmatism Correction Method based on Fourier Transform of Scanning Electron Microscope Images
- Sonar-Based Behaviors for a Behavior-Based Mobile Robot (Special Issue on Image Processing and Understanding)