Implementation of a small size experimental self-contained autonomous robot — sensors, vehicle control, and description of sensor based behavior

Shin’ichi Yuta, Shooji Suzuki, Shigeki Iida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

A small size self-contained autonomous mobile robot has been implemented as a platform for experimental research of sensor based behavior. This robot can move in two dimensional environment using two driving wheels and have optical and ultrasonic range sensors. Each hardware function of the robot is modularized as a single board computer and master module located in center to control the whole system. In the real environment, the autonomous robot must get environment information from sensors of itself, while it is moving, because the environment is not completely known before moving. In the behavior program, it must monitor sensor information and select the suitable motion. Action mode representation is proposed to describe such behavior.

Original languageEnglish
Title of host publicationExperimental Robotics II - The 2nd International Symposium, 1991
EditorsRaja Chatila, Gerd Hirzinger
PublisherSpringer Verlag
Pages344-358
Number of pages15
ISBN (Print)9783540198512
DOIs
Publication statusPublished - 1993 Jan 1
Event2nd International Symposium on Experimental Robotics, ISER 1991 - Toulouse, France
Duration: 1991 Jun 251991 Jun 27

Publication series

NameLecture Notes in Control and Information Sciences
Volume190
ISSN (Print)0170-8643

Other

Other2nd International Symposium on Experimental Robotics, ISER 1991
CountryFrance
CityToulouse
Period91/6/2591/6/27

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Keywords

  • Action mode representation
  • Autonomous mobile robot
  • Centerized decision-making
  • Function distribution
  • Sensor based behavior

ASJC Scopus subject areas

  • Library and Information Sciences

Cite this

Yuta, S., Suzuki, S., & Iida, S. (1993). Implementation of a small size experimental self-contained autonomous robot — sensors, vehicle control, and description of sensor based behavior. In R. Chatila, & G. Hirzinger (Eds.), Experimental Robotics II - The 2nd International Symposium, 1991 (pp. 344-358). (Lecture Notes in Control and Information Sciences; Vol. 190). Springer Verlag. https://doi.org/10.1007/BFb0036150