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Behavior-based mobile robot using active sensor fusion

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4 Author(s)
Kweon, I. ; Toshiba Corp., Kawasaki, Japan ; Kuno, Y. ; Watanabe, M. ; Onoguchi, K.

The authors present a navigation system using multiple sensors for unknown and dynamic indoor environments. To achieve robustness and flexibility in the mobile robot, a behavior-based system architecture is developed consisting of multilayered behaviors using multiple sensors that were ultrasonic sensors and a video camera. Basic behaviors required for navigation, such as avoiding obstacles, moving toward free space, and following targets are redundantly developed as agents and combined in a behavior-based system architecture. The capabilities of the system were demonstrated in unstructured real office environments using an indoor mobile robot

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992