Title :
Collision avoidance in a behavior-based mobile robot design
Author :
Holenstein, Alois A. ; Badreddin, Essam
Author_Institution :
Inst. of Autom. Control, Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
The collision avoidance behavior in a recursive nested control structure design is discussed. A formulation of a repulsion force based on measurements of ultrasonic range and tactile force and moment is given. The avoidance behavior adapts to the dynamics of the mobile robot. The realization details emphasize the importance of keeping the system bandwidth as large as possible to increase the reflexiveness of the avoidance behavior. Real-world experiments confirm the effectiveness and robustness of the proposed procedure
Keywords :
distance measurement; force measurement; mobile robots; tactile sensors; ultrasonic measurement; ultrasonic transducers; behavior-based mobile robot; collision avoidance behavior; dynamics; recursive nested control structure; repulsion force; robustness; tactile force; ultrasonic range; Acceleration; Automatic control; Collision avoidance; Computer vision; Force measurement; Force sensors; Mobile robots; Robot sensing systems; Tactile sensors; Wheels;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131702
