Biologically-Plausible Reactive Control of Mobile Robots

This paper describes a hybrid mobile robot architecture that addresses three main challenges for robots living in human-inhabited environments: how to operate in dynamic and unpredictable environment, how to deal with high-level human commands, and how to engage human users. The architecture combines three components: deliberative planning, reactive control, and motivational drives. It has been proven useful for controlling mobile robots in man-made environments. Results are reported for a fax delivery mission in a normal office environment.

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Real-time navigational control of mobile robots using an artificial neural network

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1243/09544062jmes1410 ◽

2009 ◽

Vol 223 (7) ◽

pp. 1713-1725 ◽

Cited By ~ 18

Author(s):

D R Parhi ◽

M K Singh

Keyword(s):

Neural Network ◽

Mobile Robots ◽

Back Propagation ◽

Neural Net ◽

Reactive Control ◽

Neural Controller ◽

Time Optimization ◽

Set Up ◽

And Control ◽

Good Agreement

This article deals with the reactive control of an autonomous robot, which moves safely in a crowded real-world unknown environment and reaches a specified target by avoiding static as well as dynamic obstacles. The inputs to the proposed neural controller consist of left, right, and front obstacle distance to its locations and the target angle between a robot and a specified target acquired by an array of sensors. A four-layer neural network has been used to design and develop the neural controller to solve the path and time optimization problem of mobile robots, which deals with cognitive tasks such as learning, adaptation, generalization, and optimization. The back-propagation method is used to train the network. This article analyses the kinematical modelling of mobile robots as well as the design of control systems for the autonomous motion of the robot. Training of the neural net and control performances analysis were carried out in a real experimental set-up. The simulation results are compared with the experimental results and they show very good agreement.

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Optimization of Reactive Control for Mobile Robots Based on the CRA Using Type-2 Fuzzy Logic

Nature-Inspired Design of Hybrid Intelligent Systems - Studies in Computational Intelligence ◽

10.1007/978-3-319-47054-2_33 ◽

2016 ◽

pp. 505-515 ◽

Cited By ~ 3

Author(s):

David de la O ◽

Oscar Castillo ◽

Jose Soria

Keyword(s):

Fuzzy Logic ◽

Mobile Robots ◽

Reactive Control

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Fuzzy Configuration Space for Moving Obstacle Avoidance of Autonomous Mobile Robots

Journal of Advanced Computational Intelligence and Intelligent Informatics ◽

10.20965/jaciii.2006.p0026 ◽

2006 ◽

Vol 10 (1) ◽

pp. 26-34

Author(s):

Jorge Guerra ◽

◽

Hajime Nobuhara ◽

Kaoru Hirota

Keyword(s):

Mobile Robots ◽

Configuration Space ◽

High Performance ◽

Computational Cost ◽

Ccd Camera ◽

Autonomous Mobile Robots ◽

Reactive Control ◽

Starting Point ◽

Planning Algorithm ◽

Proximity Measures

A fuzzy configuration space description method that provides the path planning solution for autonomous mobile robots in dynamically changing environment is proposed based on a hybrid planning algorithm that combines total solutions and reactive control through fuzzy proximity measures. The system (made with C++) that monitors and controls mobile robots remotely is created using a multithreaded model while taking advantage of high performance OpenGL routines to counter the increase in computational cost generated by this approach. Experiments on a real Lego robot are performed using a personal computer with a 1.5GHz Pentium4 CPU and a CCD camera. The efficiency of the hybrid algorithm and the potential of this approach, as a distributed system, in greatly changing dynamic environments are shown. The system provides a starting point for further development of distributed robotic systems, for application in human support tasks where interaction with nonprecise human behaviors are better mentioned with fuzzy parameters.

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