Reactive behaviors of fast mobile robots

This article addresses the modeling of the reactive behaviors of a mobile robot moving in unstructured and dynamic environments. The main focus is on the software structure devoted to obstacle avoidance when geometric models do not exist and when obstacles can be dynamic. The first part concerns the model of the robot/environment interaction. This model is based on the definition of the interaction component (deformable virtual zone) of an internal state of the robot and leads to avoidance-oriented control laws. The second part describes the derivation of the state equation and one of its implementations on a fast outdoor mobile robot. © 1994 John Wiley & Sons, Inc.

[1]  John Canny,et al.  The complexity of robot motion planning , 1988 .

[2]  Monnett Hanvey Soldo,et al.  Reactive and preplanned control in a mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[3]  René Zapata,et al.  Reactive behaviors of fast mobile robots in unstructured environments: sensor-based control and neural networks , 1993 .

[4]  Rodney A. Brooks,et al.  Solving the Find-Path Problem by Good Representation of Free Space , 1983, Autonomous Robot Vehicles.

[5]  Essameddin Badreddin,et al.  Collision avoidance in a behavior-based mobile robot design , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[6]  Daniel E. Koditschek,et al.  Exact robot navigation by means of potential functions: Some topological considerations , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[7]  Max Donath,et al.  Autonomous robots and emergent behavior: a set of primitive behaviors for mobile robot control , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[8]  P. Rives,et al.  Une nouvelle approche de la relation vision-commande en robotique , 1990 .

[9]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[10]  Ronald C. Arkin,et al.  Qualitative spatial understanding and reactive control for autonomous robots , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[11]  日本ロボット学会.  Proceedings IEEE/RSJ International Workshop on Intelligent Robots and Systems '89 (IROS'89) : the autonomous mobile robots and its applications : Tsukuba Center for Institutes, Tsukuba, Japan, Sept. 4-6, 1989 , 1989 .