Title :
Time-varying potential field based `perception-action´ behaviors of mobile robot
Author :
Tianmiao, Wang ; Zhang Bo
Author_Institution :
Dept. of Comput. Sci., Tsinghua Univ., Beijing, China
Abstract :
An efficient method is presented for implementing mobile robot perception-action behaviors, based on the time-varying potential field. The concept of dynamic potential is proposed to achieve the control scheme. The scheme was successfully implemented on the THMR-II mobile robot for a variety of applications. The drawbacks of known potential field methods are solved by the composition of the behavior controls. Experimental results based on sonar and vision signals are given to show that the method had good real-time response and adaptability, and was robust in dynamic environments
Keywords :
adaptive systems; computer vision; mobile robots; sonar; time-varying systems; THMR-II; adaptability; adaptive systems; behavior controls; mobile robot; perception-action behaviors; real-time response; sonar; time-varying potential field; vision signals; Computer science; Level control; Maxwell equations; Mobile robots; Roads; Robot control; Robustness; Signal processing; Sonar; Uncertainty;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220058
