Generating optimal behaviors of mobile robot using behavior network with planning capability

Hyeun Jeong Min, Kyung Joong Kim, Sung Bae Cho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationComputational Intelligence in Robotics and Automation for the New Millennium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages186-191
Number of pages6
ISBN (Electronic)0780378660
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
Duration: 2003 Jul 162003 Jul 20

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume1

Other

Other2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
CountryJapan
CityKobe
Period03/7/1603/7/20

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All Science Journal Classification (ASJC) codes

  • Computational Mathematics

Cite this

Min, H. J., Kim, K. J., & Cho, S. B. (2003). Generating optimal behaviors of mobile robot using behavior network with planning capability. In Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium (pp. 186-191). [1222086] (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2003.1222086