Goal-oriented behaviour-based visual navigation

We describe a mobile robot system that performs goal-oriented visual navigation using a behaviour-based architecture. The system was constructed as a result of our previous research (Zelinsky et al. (1995)) into behaviour-based mobile robot systems. Since the system is implemented using real-time vision it is able to navigate in dynamic and unknown environments. The most important feature of this navigation system is that the mobile robot can learn to resolve conflicts between its own internal behaviours, such as moving to a goal while avoiding obstacles. Our robot is able to efficiently avoid obstacles while trying to reach a goal. Experimental results of an implementation on a Yamabico mobile robot are presented.