Decision Making for a Mobile Robot Using Potential Function
Kazumi Oikawa*, Hidenori Takauji**, Takanori Emaru***,
Takeshi Tsuchiya****, and Shigenori Okubo*
*Yamagata Univ., 4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan
**Hokkaido Univ., Kita 14 Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan
***Hokkaido Univ., Kita 13 Nishi 9, Kita-ku, Sapporo, Hokkaido 060-8628, Japan
****Hokkaido Institute of Technology, 7-15-4-1 Maeda, Teine-ku, Sapporo, Hokkaido 006-8585, Japan
We discuss decision making for a behavior-based robot with modules which determining robot action. The subsumption architecture (SA) arranges modules in layers, giving upper-layer module action priority over lower-layer modules. Although implementation is easy, results in many inefficient actions because upper-layer module are used regardless of other modules. We solve this problem by representing actions by Potential Function (PF), in which maximum votes are collected from modules. Using event-driven state transition, the robot decides its action with appropriate sets of modules changed based on the situation. We apply this to navigation tasks in a corridor and show simulation results. When we give a map and path designation to the robot, we use a handwriting map interface. We compare object-oriented design SA and PMF with our proposal and show how inefficient actions are reduced using our proposal.
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