TY - GEN
T1 - Office delivery robot controlled by modular behavior selection networks with planning capability
AU - Lee, Young Seol
AU - Cho, Sung Bae
PY - 2014/1/1
Y1 - 2014/1/1
N2 - Recently, assistance service using mobile robots becomes one of important issues. Accordingly, studies on controlling the mobile robots are spreading all over the world. In this line of research, we propose a hybrid architecture based on hierarchical planning of modular behavior selection networks for generating autonomous behaviors of the office delivery robot. Behavior selection network is suitable for goal-oriented problems, but it is too difficult to design a monolithic behavior network to deal with complex robot control. We decompose it into several smaller behavior modules and construct sequences of the modules considering the sub-goals, the priority in each task and the user feedback. The feasibility of the proposed method is verified on both the Webot simulator and Khepera II robot in an office environment with delivery tasks. Experimental results confirm that a robot can achieve goals and generatemodule sequences successfully even in unpredictable and changeable situations, and the proposed planning method reduces the elapsed time during tasks by 17.5%.
AB - Recently, assistance service using mobile robots becomes one of important issues. Accordingly, studies on controlling the mobile robots are spreading all over the world. In this line of research, we propose a hybrid architecture based on hierarchical planning of modular behavior selection networks for generating autonomous behaviors of the office delivery robot. Behavior selection network is suitable for goal-oriented problems, but it is too difficult to design a monolithic behavior network to deal with complex robot control. We decompose it into several smaller behavior modules and construct sequences of the modules considering the sub-goals, the priority in each task and the user feedback. The feasibility of the proposed method is verified on both the Webot simulator and Khepera II robot in an office environment with delivery tasks. Experimental results confirm that a robot can achieve goals and generatemodule sequences successfully even in unpredictable and changeable situations, and the proposed planning method reduces the elapsed time during tasks by 17.5%.
UR - http://www.scopus.com/inward/record.url?scp=84927596743&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84927596743&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-03500-0_7
DO - 10.1007/978-3-319-03500-0_7
M3 - Conference contribution
AN - SCOPUS:84927596743
T3 - Lecture Notes in Electrical Engineering
SP - 103
EP - 113
BT - Informatics in Control, Automation and Robotics - 9th International Conference, ICINCO 2012, Revised Selected Papers
A2 - Ferrier, Jean-Louis
A2 - Bernard, Alain
A2 - Gusikhin, Oleg
A2 - Madani, Kurosh
PB - Springer Verlag
T2 - 9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012
Y2 - 28 July 2012 through 31 July 2012
ER -