Real Time Behavior-Based Control on a Mobile Robot

被引：0
|
作者：
Koota Muzyamba
钱晋武
沈林勇
章亚男
机构：
[1] Shanghai University
[2] School of Electromechanical Engineering and Automation
[3] China
[4] Shanghai 200072
来源：
Advances in Manufacturing | 2003年 / 03期
关键词：
subsumption architecture; mobile robot; behavior-based control;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
This paper discusses and compares some common architectures used in autonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that was implemented successfully in the Robotics Lab of the Department of Precision Mechanical Engineering. Fuzzy controller was used to implement the emergency behavior, the behaviors arbitration was implemented using the sub-sumption architecture. In an unknown dynamic indoor environment, the robot achieved real-time obstacle avoidance properties that are cruel for mobile robotics.
引用
收藏
页码：280 / 284
页数：5
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