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

Hyeun Jeong Min; Kyung Joong Kim; Sung Bae Cho

doi:10.1109/CIRA.2003.1222086

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

Hyeun Jeong Min, Kyung Joong Kim, Sung Bae Cho

Department of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publication	Computational Intelligence in Robotics and Automation for the New Millennium
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	186-191
Number of pages	6
ISBN (Electronic)	0780378660
DOIs	https://doi.org/10.1109/CIRA.2003.1222086
Publication status	Published - 2003
Event	2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan Duration: 2003 Jul 16 → 2003 Jul 20

Publication series

Name	Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume	1

Other

Other	2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
Country	Japan
City	Kobe
Period	03/7/16 → 03/7/20

Bibliographical note

Publisher Copyright:
© 2003 IEEE.

All Science Journal Classification (ASJC) codes

Computational Mathematics

Access to Document

10.1109/CIRA.2003.1222086

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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

Min, Hyeun Jeong ; Kim, Kyung Joong ; Cho, Sung Bae. / Generating optimal behaviors of mobile robot using behavior network with planning capability. Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium. Institute of Electrical and Electronics Engineers Inc., 2003. pp. 186-191 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA).

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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.",

author = "Min, {Hyeun Jeong} and Kim, {Kyung Joong} and Cho, {Sung Bae}",

note = "Publisher Copyright: {\textcopyright} 2003 IEEE.; 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 ; Conference date: 16-07-2003 Through 20-07-2003",

year = "2003",

doi = "10.1109/CIRA.2003.1222086",

language = "English",

series = "Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA",

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Min, HJ, Kim, KJ & Cho, SB 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., 1222086, Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, vol. 1, Institute of Electrical and Electronics Engineers Inc., pp. 186-191, 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003, Kobe, Japan, 03/7/16. https://doi.org/10.1109/CIRA.2003.1222086

Generating optimal behaviors of mobile robot using behavior network with planning capability. / Min, Hyeun Jeong; Kim, Kyung Joong; Cho, Sung Bae.

Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium. Institute of Electrical and Electronics Engineers Inc., 2003. p. 186-191 1222086 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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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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Min HJ, Kim KJ, Cho SB. 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. Institute of Electrical and Electronics Engineers Inc. 2003. p. 186-191. 1222086. (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA). https://doi.org/10.1109/CIRA.2003.1222086

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

Abstract

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Bibliographical note

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