Situation recognition for behavior-based mobile robots

Peter Veelaert; Herbert Peremans

doi:10.1117/12.228985

27 December 1995 Situation recognition for behavior-based mobile robots

Peter Veelaert, Herbert Peremans

Proceedings Volume 2591, Mobile Robots X; (1995) https://doi.org/10.1117/12.228985
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

In this paper we present a more human-like approach towards navigating a mobile robot. We maintain that navigation of a mobile robot always occurs within a certain context which we call a situation. Typical situations might be 'entering a corridor,' 'passing through a door,' 'seeking a goal,' etc. To approximate the navigation behavior of an intelligent agent in such a situation, we define generic situations as collections of pathways. Each pathway describes a possible path followed by that agent in that situation. We further assume that these pathways can be generated by observing a limited set of beacons associated with each situation. Hence, the robot will make use of relative positions only, distance and bearing of the beacons with respect to the robot and distances between the different beacons, obviating the need for an absolute coordinate system. To limit the number of pathways that need to be stored to describe a generic situation we propose a competition and cooperation algorithm. To show how this approach fares in realistic circumstances on a real mobile robot we include preliminary results with a triangulation based ultrasonic sensor system.

Citation Download Citation

Peter Veelaert and Herbert Peremans "Situation recognition for behavior-based mobile robots", Proc. SPIE 2591, Mobile Robots X, (27 December 1995); https://doi.org/10.1117/12.228985

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available