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

fYear

1990

fDate

13-18 May 1990

Firstpage

936

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126111

Filename

126111