TY - GEN
T1 - Generating optimal behaviors of mobile robot using behavior network with planning capability
AU - Min, Hyeun Jeong
AU - Kim, Kyung Joong
AU - Cho, Sung Bae
N1 - Publisher Copyright:
© 2003 IEEE.
Copyright:
Copyright 2015 Elsevier B.V., All rights reserved.
PY - 2003
Y1 - 2003
N2 - This paper presents an approach to the optimal method for behavior generation of mobile robot. Recently, a hybrid system that supplements gap between reactive and plan-based approaches by employing a reactive system for lower level control for fast reaction and a planner for higher level for generation of optimal sequence of behaviors has gained popularity. Behavior network structures may generate behaviors automatically through the internal links and external links with sensors and goals, and can be applied much into more complex problems. In this paper we propose an optimization method of behavior sequences for generating optimal behavior of mobile robot using behavior network with planning capabilities. Behavior network inspired by behavior selection of animals selects the next behavior that has the highest priority from the information acquired to sensors and goals. Globally optimal behavior selected in this behavior network is processed in advance and the next behavior is selected among behavior that approaches the goals. We could notice that robot reaches the goals faster in behavior network with planning capability rather than behavior network only through the experiment using Khepera mobile robot simulator.
AB - This paper presents an approach to the optimal method for behavior generation of mobile robot. Recently, a hybrid system that supplements gap between reactive and plan-based approaches by employing a reactive system for lower level control for fast reaction and a planner for higher level for generation of optimal sequence of behaviors has gained popularity. Behavior network structures may generate behaviors automatically through the internal links and external links with sensors and goals, and can be applied much into more complex problems. In this paper we propose an optimization method of behavior sequences for generating optimal behavior of mobile robot using behavior network with planning capabilities. Behavior network inspired by behavior selection of animals selects the next behavior that has the highest priority from the information acquired to sensors and goals. Globally optimal behavior selected in this behavior network is processed in advance and the next behavior is selected among behavior that approaches the goals. We could notice that robot reaches the goals faster in behavior network with planning capability rather than behavior network only through the experiment using Khepera mobile robot simulator.
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U2 - 10.1109/CIRA.2003.1222086
DO - 10.1109/CIRA.2003.1222086
M3 - Conference contribution
AN - SCOPUS:27744494048
T3 - Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
SP - 186
EP - 191
BT - Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
Y2 - 16 July 2003 through 20 July 2003
ER -