The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 88-149
Full Name: Lubnen Name Moussi
Position: Ph.D. Candidate
Age: ON
Sex: Male
Address: R José Cassiano de Mesquita, 250 - S Seb Grama - SP 13790-000
Country: BRAZIL
Tel: 8173-6076
Tel prefix: 19
Fax:
E-mail address: lubnen_moussi@hotmail.com
Other E-mails: lubnen@gmail.com
Title of the Paper: A Mobile Robot Behavior Based Navigation Architecture using a Linear Graph of Passages as Landmarks for Path Definition
Authors as they appear in the Paper: Lubnen Name Moussi and Marconi Kolm Madrid
Email addresses of all the authors: lubnen_moussi@hotmail.com, marconimadrid@uol.com.br
Number of paper pages: 14
Abstract: In this work the authors present a mobile robot architecture design for real time autonomous navigation considering minimum requirements of hardware and computation. These requirements determine the use of simple sensors and minimum representation of the environment. The approach chosen was Behavior-Based for the design of the architecture and the behaviors. It is implemented under simulation of a differential wheels robot inside a 2D environment with a layout very close to a real situation for laboratories, offices and class-rooms. The solution takes into consideration local and long run navigation. A first approach utilizes only reac-tive behaviors, solving very well local navigation. It also gives a partial solution to long run navigation in a simple environment, with only two rooms, doing it without path definition. A complete solution for an envi-ronment with many rooms is developed adding to the previous approach more behaviors that will take care of path def!
inition and control. A linear graph, having the passages as landmarks, structures the environment repre-sentation and is the basis for the algorithm of path definition that gives an efficient solution. The architecture has not a central planner and controller as in traditional deliberative architectures; planning and control arises from the independent parallel functioning of all the behaviors. The results demonstrate that the design achieved its objectives and some important points to improve it are shown.
Keywords: Autonomous navigation, Mobile robotics, Behavior-based robotics, Emergent behaviors, Path definition and control, Target seek
EXTENSION of the file: .pdf
Special (Invited) Session: Behavior Based Autonomous Navigation Using Passages as Landmarks for Path Definition
Organizer of the Session: 645-158
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