Volume 23 Issue 3
May  2001
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LI Xiao-hai, CHENG Jun-shi, CHEN Jia-pin. RESEARCH ON AUTOMATIC AVOID-OBSTACLE BEHAVIOR FOR AUTONOMOUS MICRO MOBILE ROBOTS[J]. ROBOT, 2001, 23(3): 234-237,274.
Citation: LI Xiao-hai, CHENG Jun-shi, CHEN Jia-pin. RESEARCH ON AUTOMATIC AVOID-OBSTACLE BEHAVIOR FOR AUTONOMOUS MICRO MOBILE ROBOTS[J]. ROBOT, 2001, 23(3): 234-237,274.
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RESEARCH ON AUTOMATIC AVOID-OBSTACLE BEHAVIOR FOR AUTONOMOUS MICRO MOBILE ROBOTS

  • Information Storage Research Center, Shanghai Jiaotong University 200030

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  • Received Date: May 23, 2000
  • Published Date: May 14, 2001
    Graphical Abstract
    • Abstract
  • Because of uncertainties of the environment and the robot mathematic model and some limits of these robots,it is difficult for autonomous micro mobile robots to avoid obstacle. In this paper,we design an automatic avoid-obstacle avodance behavior. This behavior uses the artificial motor neuron network to select its moving mode and uses reinforcement learning to adjust the weight of the network at real time. The results of the safe wander are made of wander behavior,and automatic obstacle avoidance behavior have shown its validity.
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    • References (5)
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    Maja J.Mataric,Designing and Understanding Adaptive Group Behavior,Adaptive Behavior,1995,4:1:51-80
    [3]
    Paolo Pirjanian.Behavior Coordination Mechanisms -State-of-the-art,Tech-report IRIS-99-375,Institute for Robotics and Intelligent Systems.School of Engineering,University of Southern California,October 1999
    [4]
    Ulrich Nehmzow.Acquisition of Smooth Continuous Obstacle Avoidance in Moblie Robot.Proc.Workshop Prerational Intelligence in Bielefield,1994,25(1):28-34
    [5]
    Shigemi Nagata.Minoru Sekiguchi,Kazuo Askawa.Mobile Robot Control by a Structured Hierarchical Neural Network.IEEE Control System,April 1990.69-76
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