A behaviour-based blackboard architecture for mobile robots

Mobile robot control architectures are gradually shifting from hierarchical towards behaviour-based. Hierarchical controllers lack flexibility; behaviour-based architectures, on the contrary, enable rapid response to environment changes and, moreover, they feature robustness in industrial environments. A behaviour-based mobile robot system is described enabling task execution in unstructured real-world environments. The behaviour model consists of a number of motion behaviours, including reflexes and voluntary motion behaviours, and knowledge acquisition modules providing task-oriented information about the robot environment. A blackboard model is introduced to overcome some shortcomings of existing systems, especially concerning modularity and task execution capabilities. Some realistic scenarios are described to show the versatility of the system.

[1]  Hong Xu,et al.  A behaviour-based blackboard architecture for reactive and efficient task execution of an autonomous robot , 1997, Robotics Auton. Syst..

[2]  Luc Steels,et al.  A case study in the behavior-oriented design of autonomous agents , 1994 .

[3]  Hendrik Van Brussel,et al.  Robot docking by dynamic guidance and relative positioning , 1995 .

[4]  R A Brooks,et al.  New Approaches to Robotics , 1991, Science.

[5]  Ronald C. Arkin,et al.  Motor Schema — Based Mobile Robot Navigation , 1989, Int. J. Robotics Res..

[6]  Hendrik Van Brussel,et al.  An integrated control system for enhanced autonomous navigation of mobile robots , 1993 .

[7]  In So Kweon,et al.  Architecture of behavior-based mobile robot in dynamic environment , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[8]  Herbert Peremans,et al.  Tri-aural perception on a mobile robot , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[9]  Hong Xu,et al.  Positioning of the Mobile Robot LiAS With Line Segments Extracted from 2D Range Finder Data using Total Least Squares , 1997, ISER.

[10]  Abdelouahab Zaatri,et al.  Investigations in telerobotics using cooperative supervisory modes of control , 1997, Other Conferences.

[11]  Hendrik Van Brussel,et al.  Neural avoidance behaviour of the mobile robot LIAS , 1996 .

[12]  Joris De Schutter,et al.  Specification of force-controlled actions in the "task frame formalism"-a synthesis , 1996, IEEE Trans. Robotics Autom..

[13]  H. Van Brussel,et al.  Positioning of the mobile robot LiAS using natural landmarks and a 2D range finder , 1996, 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems (Cat. No.96TH8242).

[14]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[15]  Hendrik Van Brussel,et al.  Sensor fusion and positioning of the mobile robot LiAS , 1995 .

[16]  David W. Payton,et al.  An architecture for reflexive autonomous vehicle control , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[17]  Rodney A. Brooks,et al.  A robot that walks; emergent behaviors from a carefully evolved network , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[18]  Elizabeth R. Stuck,et al.  Using a Blackboard to Integrate Multiple Activities and Achieve Strategic Reasoning for Mobile-Robot Navigation , 1995, IEEE Expert.

[19]  Herbert Peremans,et al.  A high-resolution sensor based on tri-aural perception , 1993, IEEE Trans. Robotics Autom..

[20]  R. A. Brooks,et al.  Intelligence without Representation , 1991, Artif. Intell..

[21]  Rodney A. Brooks,et al.  Intelligence Without Reason , 1991, IJCAI.

[22]  Kurt Konolige,et al.  Blending reactivity and goal-directedness in a fuzzy controller , 1993, [Proceedings 1993] Second IEEE International Conference on Fuzzy Systems.

[23]  H. Van Brussel,et al.  A reflexive navigation algorithm for an autonomous mobile robot , 1994, Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems.

[24]  Luc Steels,et al.  The artificial life roots of artificial intelligence , 1993 .

[25]  Hong Xu,et al.  Designing a user interface for service operations of an intelligent mobile manipulator , 1997, Other Conferences.

[26]  Hong Xu,et al.  LiAS: a reflexive navigation architecture for an intelligent mobile robot system , 1996, IEEE Trans. Ind. Electron..

[27]  Hendrik Van Brussel.  Navigation issues in intelligent autonomous systems , 1995 .

[28]  S. P. Evseev,et al.  The Control of Movement , 1996 .

[29]  Juha Röning,et al.  PEM-Modelling: A Framework for Designing Intelligent Robot Control , 1992, J. Robotics Mechatronics.