Title :
Whisker based mobile robot navigation
Author :
Jung, David ; Zelinsky, Alexander
Author_Institution :
Dept. of Comput. Sci., Wollongong Univ., NSW, Australia
Abstract :
In this paper we describe the design and implementation of a unique proportional whisker sensor and our general behaviour based software architecture. The architecture for behaviour based agents is used to realise purposive mobile robot navigation in a cluttered indoor environment. The whisker was developed specifically to meet the requirements of high speed and close wall following. We also discuss the specific architecture we have constructed
Keywords :
computerised control; mobile robots; path planning; position control; software agents; tactile sensors; behaviour based agents; close wall following; indoor environment; mobile robot; proportional whisker sensor; software architecture; tactile sensors; whisker based navigation; Cognition; Cognitive robotics; Computer architecture; Intelligent robots; Intelligent sensors; Laboratories; Mobile robots; Navigation; Robot sensing systems; Sensor phenomena and characterization;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570842
