Title :
Multiagent system with event driven control for autonomous mobile robot navigation
Author :
Luo, Ren C. ; Chen, Tse Min
Author_Institution :
Dept. of Electr. Eng., Nat. Chung Cheng Univ., Chia-Yi, Taiwan
Abstract :
A multiagent with event driven obstacle avoidance system (MEDOAS) has been developed, which is capable of avoiding stationary and moving obstacles and achieve the goal position. The multiagent design enables the mobile robot to perform sensing, steering and driving control in parallel. Event driven motion control of the system enables the robot to cope with various difficulties of the given assignment in a dynamic changing task environment. The MEDOAS is implemented by multi-thread programming on a time sharing operating system running on the main control system on our mobile robot system in the laboratory. The performance of MEDOAS is experimentally tested on the mobile robot. Experimental results demonstrate the resultant MEDOAS system capable of navigating a mobile robot through the cluttered environment efficiently
Keywords :
cooperative systems; mobile robots; motion control; path planning; autonomous mobile robot navigation; cluttered environment; driving control; dynamic changing task environment; event driven motion control; moving obstacles; multi-thread programming; multiagent system; obstacle avoidance; sensing; stationary obstacles; steering; time sharing operating system; Control systems; Laboratories; Mobile robots; Motion control; Multiagent systems; Operating systems; Robot programming; Robot sensing systems; Testing; Time sharing computer systems;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677212
