Decision Making for a Mobile Robot Using Potential Function

2007 ◽  
Vol 19 (3) ◽  
pp. 298-307 ◽  
Author(s):  
Kazumi Oikawa ◽  
◽  
Hidenori Takauji ◽  
Takanori Emaru ◽  
Takeshi Tsuchiya ◽  
...  
Keyword(s):  
Decision Making ◽  
Mobile Robot ◽  
Potential Function ◽  
State Transition ◽  
Lower Layer ◽  
Object Oriented ◽  
Subsumption Architecture ◽  
Object Oriented Design ◽  
Event Driven ◽  
Simulation Results

We discuss decision making for a behavior-based robot with modules which determining robot action. The subsumption architecture (SA) arranges modules in layers, giving upper-layer module action priority over lower-layer modules. Although implementation is easy, results in many inefficient actions because upper-layer module are used regardless of other modules. We solve this problem by representing actions by Potential Function (PF), in which maximum votes are collected from modules. Using event-driven state transition, the robot decides its action with appropriate sets of modules changed based on the situation. We apply this to navigation tasks in a corridor and show simulation results. When we give a map and path designation to the robot, we use a handwriting map interface. We compare object-oriented design SA and PMF with our proposal and show how inefficient actions are reduced using our proposal.

Object-oriented design of the subsumption architecture

2001 ◽  
Vol 31 (9) ◽  
pp. 911-923 ◽  
Author(s):  
Greg Butler ◽  
Andrea Gantchev ◽  
Peter Grogono
Keyword(s):  
Object Oriented ◽  
Subsumption Architecture ◽  
Object Oriented Design

scholarly journals Preliminary Development of Subsumption Architecture Control for Automated Guided Vehicle

ROTASI ◽  
2019 ◽  
Vol 21 (4) ◽  
pp. 200
Author(s):  
Prianggada Indra Tanaya
Keyword(s):  
Operating System ◽  
Decision Making ◽  
Control System ◽  
Manufacturing System ◽  
Object Oriented ◽  
Control Architecture ◽  
Automated Guided Vehicle ◽  
Subsumption Architecture ◽  
Object Oriented Technology ◽  
System Input

Subsumption control architecture is an control architecture based on parallel system. Input of information of sensors is directly connected through modules in the control system, and further the decision making is connected to actuators. Automated Guided Vehicle or AGV is an automated component within integrated manufacturing system. In this article, this control architecture will be designed and implemented to an AGV. Commands are designed based on Object-Oriented technology. The commands are arranged in subsumption, where a command higher subsumed other command of its lower level. GPFO (Greater Priority First Out) technique is implemed for executing the commands by using multi-threading. Experimentation is performed to have the characteristics of commands being executed. This work introduce our effort to design an operating system for an AGV.

Sensory Network for Mobile Robotic Systems with Structured Intelligence

1998 ◽  
Vol 10 (4) ◽  
pp. 338-349 ◽  
Author(s):  
Naoyuki Kubota ◽  
◽  
Toshio Fukuda ◽  
Keyword(s):  
Genetic Algorithm ◽  
Decision Making ◽  
Mobile Robot ◽  
Collision Avoidance ◽  
Environmental Conditions ◽  
Fuzzy Controller ◽  
Robotic Systems ◽  
Delta Rule ◽  
Simulation Results ◽  
Collision Avoidance Problems

This paper deals with a sensory network for mobile robotic systems with structured intelligence. A mobile robot requires close linkage of sensing, decision making, and action. To realize this, we propose structured intelligence for robotic systems. In this paper, we focus on the sensing ability for a mobile robot with a fuzzy controller tuned by the delta rule and whose architecture is optimized by a genetic algorithm. We apply the sensory network for controlling attention ranges for external sensors and for adjusting fuzzy controller output from the metalevel. As a simulation example, we apply the proposed method to mobile robot collision avoidance problems. Simulation results show that sensory networks control the attention range for perception and adjust fuzzy controller output based on given environmental conditions. We show the experimental results of mobile robot collision avoidance in work space including several obstacles.

scholarly journals Motion Planning of Multiple Mobile Robots Using Virtual Impedance

1996 ◽  
Vol 8 (1) ◽  
pp. 67-74 ◽  
Author(s):  
Tamio Arai ◽  
◽  
Jun Ota
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Mobile Robots ◽  
Lower Layer ◽  
Local Equilibrium ◽  
Current Position ◽  
Cooperative Motion ◽  
Robot Systems ◽  
Simulation Results ◽  
Virtual Impedance

This paper proposes a planning method for multiple mobile robot systems. It has two characteristics: (1) Each robot plans a path on its own, without any supervisor; (2) The concept of cooperative motion can be implemented. A two-layered hierarchy is defined for a scheme of individual path planning. The higher layer generates a trajectory from the current position to a goal. The lower layer called“Virtual Impedance Metho” makes a real-time plan to follow the generated trajectory while avoiding obstacles and avoiding or cooperating with other robots. This layer is composed of four modules called, “watchdog”, “deadlock solver”,“blockade solver”, and “pilot”. The local equilibrium is detected by the watchdog and cancelled by the deadlock solver or the blockade solver. Simulation results indicate the effectiveness of the proposed method.

scholarly journals E-Proposal to Expedite Customer's Decision Making on Committing Insurance Transaction

2015 ◽  
Vol 21 (4) ◽  
pp. 612-617
Author(s):  
Idris Gautama So ◽  
Rosi Yosevie
Keyword(s):  
Decision Making ◽  
Life Insurance ◽  
Object Oriented ◽  
Success Factor ◽  
Insurance Company ◽  
Life Insurance Company ◽  
Web Based ◽  
Object Oriented Design ◽  
Premium Income ◽  
New System

Objectives of this paper are to analyze the current system of policies selling in a particular Life Insurance company, especially for unit link life insurance product to understand the problems or gaps in the company. According to the result of Business Inteligence (Analysis of Insurance Industry) from the particular Life Insurance, assets of the company are big enough to do some investments in technology to gain more premium income, but the fact is premium income of said Life Insurance company was not good enough if it is compared with its competitors. So based on that problem, it is needed to find the requirements of new system as a solution, then the design a new web-based application of e-proposal to customer's decision making of the Life Insurance company. Methodology which is used in this research are colecting data by library research and field research. After that, analysis based on the theory Fishbone Diagram Analysis, Critical Success Factor Analysis, and Object Oriented Analysis will be carried out. On the design phase, Object Oriented Design is used and then evaluate the result of a new system design by Eight Golden Rules of designing user interface. Result of this research is a web based application to make the distribution of proposal faster and more simple. The procedure of new system will also make the information of policies benefit can be easily accessed by Customer and Insurance Agencies, so the company will also gain customer satisfaction and loyalty. In the end, we can conclude that e-proposal is the right solution for the company to drive customer's decision making and finally will improve Life Insurace company's product selling and also increase the premium income.

scholarly journals Object-Oriented Design of Subsumption Architecture

2005 ◽  
Vol 23 (6) ◽  
pp. 697-705 ◽  
Author(s):  
Kazumi Oikawa ◽  
Takeshi Tsuchiya ◽  
Shigenori Okubo
Keyword(s):  
Object Oriented ◽  
Subsumption Architecture ◽  
Object Oriented Design

scholarly journals A Physarum-Inspired Decision-Making Strategy for Multisource Task Searching of Mobile Robots

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Laihao Jiang ◽  
Hongwei Mo ◽  
Lifang Xu
Keyword(s):  
Decision Making ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Real World ◽  
Physarum Polycephalum ◽  
Search Algorithms ◽  
Single Source ◽  
Area Source ◽  
Simulation Results ◽  
Better Than

In the real world, there are many different kinds of sources, such as light, sound, and gas, distributed randomly over an area. Source search can be carried out by robotic system in applications. However, for a single robot, the multisource search has been receiving relatively little attention compared to single-source search. For multisource task searching, a single robot has a high travel cost and is easy to trap a source which has been located before. In order to overcome these shortages, two multisource search algorithms inspired by the foraging behavior of Physarum polycephalum are proposed in this paper. First, a Physarum-inspired Strategy (PS) is designed based on the gradient climbing characteristic of Physarum polycephalum during foraging. The PS is simple and effective to let a mobile robot traverse all sources. Then, an extension algorithm named Physarum-inspired Decision-making Strategy (PDS) is proposed based on PS. Therein the synthetical field gradient model is established by introducing decision-making factor to obtain more accurate gradient information estimation. The PDS also introduces an obstacle avoidance model. Various simulation results obtained in the multisource environments show that the performance of PDS is better than other algorithms.

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