A mobile robot strategy applied to Harunobu-4

A mobile robot strategy called stereo-typed motion by sign pattern, drawn from a study of lower animals is applied to the mobile robot Harunobu. A stereotyped motion is specified by a fixed action pattern which always appears when the robot encounters a certain situation. The motion classified into two groups; vision-based motion and sensor-based motion. The former consists of moving-along, moving-toward, turning-corner and avoiding-obstacle. A sign pattern is specified by a part of an object that initiates and guides the stereotyped motion. The latter consists of run-over-stop motion and several collision-avoiding motions initiated by bumper switches or ultrasonic sensors. To deal with error status in vision-based motion such as no-passage-found or sign-pattern-missing, several error recovery motions are specified