DocumentCode
409459
Title
Basic configuration for mobile robots
Author
Yannier, Selim ; Sabanovic, Asif ; Onat, Ahmet
Author_Institution
Mechatronics Laboratory, Sabanci Univ., Istanbul, Turkey
Volume
1
fYear
2003
fDate
10-12 Dec. 2003
Firstpage
256
Abstract
In this work, we suggested a new approach for the basic configuration of a mobile robot capable of being a building block of an intelligent agent. This configuration includes obstacle avoidance (OA), goal tracking (DTG) and communication implemented as competence layers. Moreover, a geometry based behavior arbitration layer is proposed for fusing those behaviors. Proposed control is tested on simulations where different scenarios are studied. Results have confirmed the high performance of the method.
Keywords
collision avoidance; mobile robots; motion control; multi-agent systems; behavior arbitration layer; goal tracking; intelligent agent; mobile robots; obstacle avoidance; Computational geometry; Control systems; Fuzzy logic; Intelligent agent; Laboratories; Mechatronics; Mobile communication; Mobile robots; Robot control; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology, 2003 IEEE International Conference on
Print_ISBN
0-7803-7852-0
Type
conf
DOI
10.1109/ICIT.2003.1290289
Filename
1290289
Link To Document