Behavior-based mobile robot using active sensor fusion
- 2 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1675-1682
- https://doi.org/10.1109/robot.1992.220137
Abstract
The authors present a navigation system using multiple sensors for unknown and dynamic indoor environments. To achieve robustness and flexibility in the mobile robot, a behavior-based system architecture is developed consisting of multilayered behaviors using multiple sensors that were ultrasonic sensors and a video camera. Basic behaviors required for navigation, such as avoiding obstacles, moving toward free space, and following targets are redundantly developed as agents and combined in a behavior-based system architecture. The capabilities of the system were demonstrated in unstructured real office environments using an indoor mobile robot Author(s) Kweon, I. Toshiba Corp., Kawasaki, Japan Kuno, Y. ; Watanabe, M. ; Onoguchi, K.Keywords
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