DocumentCode :
399306
Title :
A reactive robot architecture with planning on demand
Author :
Ranganathan, Ananth ; Koenig, Sven
Author_Institution :
Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
Volume :
2
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
1462
Abstract :
In this paper, we describe a reactive robot architecture that uses fast replanning methods to avoid the shortcomings of reactive navigation, such as getting stuck in box canyons or in front of small openings. Our robot architecture differs from other robot architectures in that it gives planning progressively greater control of the robot if reactive navigation continues to fail, until planning controls the robot directly. Our first experiments on a Nomad robot and in simulation demonstrate that our robot architecture promises to simplify the programming of reactive robot architectures and results in robust navigation, smooth trajectories, and reasonably good navigation performance.
Keywords :
computerised navigation; mobile robots; path planning; position control; Nomad robot; fast replanning methods; navigation performance; reactive navigation; reactive robot architecture; robust navigation; smooth trajectories; Computer architecture; Educational institutions; Learning systems; Navigation; Programming profession; Robot control; Robot programming; Robot sensing systems; Robotics and automation; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1248850
Filename :
1248850
Link To Document :
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