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Navigation for a Behavior-Based Autonomous Mobile Robot
Kazumi Oikawa and Takeshi Tsuchiya
Graduate school of Engineering, Hokkaido University, North 13 West 8, Kita-ku, Sapporo 060-8628, Japan
Received:March 28, 1998Accepted:August 6, 1998Published:October 20, 1998
Keywords:Behavior-based robot, Associative memory, World Image, Path planning
Abstract
We propose an implemented architecture that integrates possession of environmental knowledge into a reactive, behavior-based autonomous robot. As an alternative to hybrid combinations of behavior- and model-based systems, we present a fully behavior-based system that takes reactive, deliberate behavior. To get knowledge, a robot makes a the World Image, gradually constructed through experience as higher animals with self-organization do, without symbolic representation in associative memory. Since our World Image changes in direct relation to behavior, a robot navigates adaptively and reactively to its destination following a path plan based on the World Image of a dynamic environment. The path plan a robot makes is not a sequence of routes as in conventional planning, but flexible as in reactive planning. If a robot detects a failure, it reaches its destination without replanning or error recovery. Our approach makes practical a behavior-based robot already adapted to the real world.
Cite this article as:K. Oikawa and T. Tsuchiya, “Navigation for a Behavior-Based Autonomous Mobile Robot,” J. Robot. Mechatron., Vol.10 No.5, pp. 407-412, 1998.Data files:
