Instant-goal-driven methods for behavior-based mobile robot navigation

In this paper, an instant goal driven method is presented for behavior-based mobile robot navigation. At each time instant, the vector representation is used to describe the local environment based on the data obtained from the sensors on board. Based on this vector map, an instant goal is determined and accordingly, an instant goal driven behavior is generated for the mobile robot. Then, in order to avoid collisions with obstacles, an obstacle avoidance behavior is generated based on the simplified representation of the vector map. The motion of the mobile robot is then determined by fusing both behaviors together. Simulation studies show the effectiveness of this approach.