How to describe the mobile robot's sensor-based behavior?

Shooji Suzuki, Maki K. Habib, Jun'ichi Iijima, Shinichi Yuta

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

In this paper a method to describe the sensor-based behavior of an autonomous mobile robot is considered. In a practical world, the robot's dynamic property and the uncertainty of the environment must be taken into account and the robot's behavior in a real environment cannot be represented by a simple sequence of a robot's motions. Therefore, a new concept of Action mode as a unit of a robot's motion representation is introduced. Action mode is defined by a control mode of an actuator with reference value, by conditions to watch environment situation changes, an by a procedure and transition of the Action mode in case the conditions met. The robot control language ROBOL/0 which is based on the concept of Action mode representation is proposed and implemented. The navigation of a mobile robot in a real world using sensors and map information is selected as an example to evaluate the effectiveness of the proposed methods.

Original languageEnglish
Pages (from-to)227-237
Number of pages11
JournalRobotics and Autonomous Systems
Volume7
Issue number2-3
DOIs
Publication statusPublished - 1991
Externally publishedYes

Fingerprint

Mobile robots
Robots
Sensors
Navigation
Actuators

Keywords

  • Action mode
  • Mobile robot
  • Real-time navigation in the real environment
  • Real-time robot language
  • ROBOL/0

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Computational Mechanics

Cite this

How to describe the mobile robot's sensor-based behavior? / Suzuki, Shooji; Habib, Maki K.; Iijima, Jun'ichi; Yuta, Shinichi.

In: Robotics and Autonomous Systems, Vol. 7, No. 2-3, 1991, p. 227-237.

Research output: Contribution to journalArticle

Suzuki, Shooji ; Habib, Maki K. ; Iijima, Jun'ichi ; Yuta, Shinichi. / How to describe the mobile robot's sensor-based behavior?. In: Robotics and Autonomous Systems. 1991 ; Vol. 7, No. 2-3. pp. 227-237.
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