The Behaviour Based Area Coverage of Unknown Environment by Autonomous Mobile Robot Using Modified "The Way of the Ox" Algorithm

In paper the methodology of complete coverage of unknown area by autonomous mobile robot is described. The main principles of complete coverage task using sensory data only are given. The shape of coverage area is defined. The modified "the way of the ox" algorithm is proposed to realize this task and its following stages are described. Definitions of two quality indicators of realization of complete coverage task are given. The behaviour based control methodology imitated reactions of animals, realized the robot's movement, is presented. The general structure of reactive and proactive behaviours is showed. The example structures of defined reactive and proactive beheaviours, which allow to achive given task, are described. The example structure of complex behaviour implemented in Matlab-Simulink environment is presented. Graphical results of simulations of complete coverage task are presented. Values of quality indicators D and E are given and discussed.

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Behavior Based Complete Coverage Task of Unknown Area by an Autonomous Mobile Robot SCORPION with Static Obstacles in Environment

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.198.73 ◽

2013 ◽

Vol 198 ◽

pp. 73-78

Author(s):

Mariusz Dąbkowski ◽

Paweł Skrzek ◽

Grzegorz Redlarski

Keyword(s):

Control System ◽

Mobile Robot ◽

Behavioral Control ◽

Computer Application ◽

Main Task ◽

Autonomous Mobile Robot ◽

Complete Coverage ◽

Behavior Based ◽

The One ◽

Unknown Area

In the paper the behavior based control system of an autonomous mobile robot SCORPION is presented to execute the one of the most difficult navigation task, which is the complete coverage task of unknown area with static obstacles in the environment. The main principle assumed to design control system was that the robot should cover all area only once, if it possible, to optimize the length of path and energy consumption. All commercial robots like Roomba, Trilobite or IVO move using structured templates combined with random movement. Therefore the path of coverage is not optimal directions of movement are often chosen randomly, so robot covers the same area many times wasting time and energy. In paper the five main developed templates of movement were described to fulfill main task in ordered manner using primarily the way of the ox template of coverage [1, 2, 5, 1. The behavioral control system is implemented in a computer application written in Python [5]. In the paper the test methodology of the developed system on real mobile robot ERSP SCORPION equipped with IR sensors is presented. Graphical and quantitative results of tests of accomplishment of complete coverage task are given for 6 different configurations of obstacles in the robots environment. Conclusions are presented and discussed [5]. Ways to improve the quality indicators [1, of the task of complete coverage of a unknown area are also showed.

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The KCLBOT: The Challenges of Stereo Vision for a Small Autonomous Mobile Robot

Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2012-70503 ◽

2012 ◽

Author(s):

Evangelos Georgiou ◽

Jian S. Dai ◽

Michael Luck

Keyword(s):

Mobile Robot ◽

Mobile Robots ◽

Stereo Vision ◽

Critical Path ◽

Vision System ◽

Autonomous Mobile Robots ◽

Autonomous Mobile Robot ◽

Sensory Data ◽

King's College ◽

Stereo Vision System

In small mobile robot research, autonomous platforms are severely constrained in navigation environments by the limitations of accurate sensory data to preform critical path planning, obstacle avoidance and self-localization tasks. The motivation for this work is to enable small autonomous mobile robots with a local stereo vision system that will provide an accurate reconstruction of a navigation environment for critical navigation tasks. This paper presents the KCLBOT, which was developed in King’s College London’s Centre for Robotic Research and is a small autonomous mobile robot with a stereo vision system.

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MULTI-LAYERED HYBRID ARCHITECTURE TO SOLVE COMPLEX TASKS OF AN AUTONOMOUS MOBILE ROBOT

International Journal of Artificial Intelligence Tools ◽

10.1142/s0218213094000200 ◽

1994 ◽

Vol 03 (03) ◽

pp. 375-381 ◽

Cited By ~ 1

Author(s):

F. TIECHE ◽

C. FACCHINETTI ◽

H. HUGLI

Keyword(s):

Mobile Robot ◽

General Structure ◽

Hybrid Architecture ◽

Autonomous Mobile Robot ◽

Complex Tasks ◽

Robot Controller

In this paper, we present the implementation of an autonomous mobile robot controller developed according to the principle of a multi-layered hybrid architecture. This architecture is composed of four layers: sensori-motor, behavioral, sequencing, and strategic. The paper describes its general structure and the function of its main elements. It further analyses the development of an example task presenting the advantages of the hybrid architecture.

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