By Topic

Implementation of behaviour-based mobile robot for obstacle avoidance using a single ultrasonic sensor

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Tan Tiong Cheng ; Sch. of Electr. & Electron. Eng., Univ. Sains Malaysia, Nibong Tebal, Malaysia ; Mahyuddin, M.N.

This paper proposes an obstacle avoidance method for an autonomous mobile robot by using a single ultrasonic sensor. Behaviour based control architecture is implemented rather than the hierarchical method, as it is more flexible and robust. Deriving from the subsumption architecture, new behaviour based hybrid architecture is introduced in this paper. The process of behaviour based planning uses the concept of fixed priority arbitration to coordinate the behaviours. The mobile robot has 5 layers of control architecture including wandering, obstacle avoidance, goal seeking, deadlock recovering and emergency avoidance. Some realistic scenarios are used to test the versatility and robustness of the robot. The results show that the architecture is fast, simple and effective in its mission.

Published in:

Innovative Technologies in Intelligent Systems and Industrial Applications, 2009. CITISIA 2009

Date of Conference:

25-26 July 2009