Title :
Reactive inclinometer-based mobile robot navigation
Author :
Arkin, Ronald C. ; Gardner, Warren F.
Author_Institution :
Sch. of Inf. & Comput. Sci., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
The authors have developed reactive motor behaviors (schemas) which exploit inclinometer data. Using this information, they have implemented artificial intelligence hill-climbing techniques as well as valley finding and isocontour following. All of these schemas are integrated with the other schemas present in the system AuRA (autonomous robot architecture) and can be used concurrently with obstacle avoidance, goal seeking, and other motor behaviors. Simulation studies illustrate the utility of these methods using actual terrain data
Keywords :
artificial intelligence; mobile robots; navigation; planning (artificial intelligence); position control; AuRA; artificial intelligence; autonomous robot architecture; goal seeking; hill-climbing techniques; inclinometer data; isocontour following; mobile robot; navigation; obstacle avoidance; reactive motor behaviors; valley finding; Artificial intelligence; Computer science; Gravity; Intelligent robots; Intelligent sensors; Laboratories; Mobile robots; Navigation; Robot sensing systems; Surface topography;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126111
