Title :
Tailoring the behavior of a mobile robot-a recursive approach
Author :
Badreddin, Essameddin
Author_Institution :
Inst. of Autom. Control, Zurich
Abstract :
A generalized control structure for shaping the behavior of a mobile robot is described. The proposed structure possesses many desirable properties such as recursiveness, nestedness of the behavior bandwidth, and predefined interface of the behavior levels. It uses different system representations at the different levels of abstraction. A general formal description and the block-diagram realization of the different levels are given. The realization of several levels has been successfully validated on a mobile robot under realistic environmental conditions
Keywords :
mobile robots; navigation; planning (artificial intelligence); abstraction levels; behavior bandwidth; behaviour tailoring; formal description; mobile robot; navigation; path planning; Automatic control; Difference equations; Hardware; Mobile robots; Path planning; Robot control; Robotics and automation; Robustness; Shape control; Stability;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132012
