Universiti Teknologi Malaysia Institutional Repository

Behaviour based mobile robot navigation with dynamic weighted voting technique

H. M. Amin, Shamsudin and Mamat, Rosbi and Tan, Chee Kwong (2005) Behaviour based mobile robot navigation with dynamic weighted voting technique. In: Cutting Edge Robotics. InTech Europe, pp. 201-222. ISBN 3-86611-038-3

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Official URL: http://dx.doi.org/10.5772/4650


Designing a mobile robot that operates in our everyday environment is a challenging task. Complexity of the environment set strict requirements for both the hardware and software components of the robot. A robot needs sensors and sensor data processing to keep updating the environment. Furthermore, the robot has to integrate task execution with fast reaction to unexpected situations. These problems are fundamental to embodied autonomous systems that have to interact with unknown dynamic environments. To overcome this problem, various types of architectural framework of mobile robot have been introduced. These methods range from centralized sense-model-plan-act architectures to distributed behaviour based architectures. Behaviour-based architecture has emerged as an alternative to traditional approaches for designing autonomous mobile robots (Maes, 1989). It consists of a collection of task- achieving modules or behaviours, which achieve goals and run independently. Each behaviour can take inputs from the robot sensors and send outputs to the robot actuators. Intelligence emerges from the interaction of the behaviours of the system. Thus the coordinator plays an important role to combine the outputs from several conflicting behaviours. This is known as the action selection problem (ASP) and following is the definition of ASP: “How can such an agent select ‘the most appropriate’ or ‘the most relevant’ next action to take at a particular moment, when facing a particular situation?” (Pirjanian, 1998).

Item Type:Book Section
Subjects:Q Science > Q Science (General)
Divisions:Biosciences and Bioengineering (Formerly known)
ID Code:25774
Deposited By: Mrs Liza Porijo
Deposited On:12 Jun 2012 04:31
Last Modified:05 Feb 2017 03:53

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