Name
Title | ||
|---|---|---|
Integration Of Schema-Based Behaviors And Variable-Resolution Cognitive Maps For Stable Indoor Navigation |
Abstract | ||
|---|---|---|
This paper presents a situation-driven reconfigurable architecture for a schema-based robot controller which is operating in partially known indoor environments. Instead of the purely repulsive forces from the obstacles, we employ the linear combination of the repulsive and the detouring forces around the obstacle. so that the obstacles generate virtual forces pushing the robot toward the goal rather than just blocking it. By reconfiguring the detouring direction and the activation level of each schema based on the geometric and/or topological information provided by the variable resolution maps, the robot can navigate through the environments in very natural way. Simulation results show that our approach can remarkably improve the intrinsic defects of traditional potential field-based schemas. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1109/ROBOT.2001.933179 | 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS |
Keywords | Field | DocType |
path planning,robot control,topology,cognitive map,control systems,geometry,optimal control,design methodology,navigation,intelligent control,intelligent systems,robust control,mobile robots | Motion planning,Obstacle,Robot control,Computer vision,Cognitive map,Intelligent decision support system,Control engineering,Artificial intelligence,Engineering,Robot,Schema (psychology),Mobile robot | Conference |
Volume | Issue | ISSN |
4 | 1 | 1050-4729 |
Citations | PageRank | References |
0 | 0.34 | 8 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hye-Kyung Cho | 1 | 15 | 4.52 |
| Young-Jo Cho | 2 | 149 | 20.92 |
| Bum-Jae You | 3 | 402 | 52.66 |