Publication: Implementation of behaviour based mobile robot
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Date
2009-04-01
Authors
Tan, Tiong Cheng
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Abstract
Control architecture is an important investigative content in mobile robot. After studying the subsumption architecture and some other modified architecture, a hybrid architecture is introduced in the project, which is based on the subsumption architecture and integrates the behaviour based planning. Behaviour based mobile robot is claimed to enable task execution in unstructured and dynamic real-world environments. The process of behaviour based planning use the concept of fixed priority to coordinate the behaviours. It can hold the intention of sub-behaviours perfectly. Each of the behaviours switches smoothly between them. The simulation uses 5 layers control architecture including wander, avoiding obstacle, goal seeking and so on. The mobile robot solely depends on the information from the ultrasonic sensor for obstacle avoidance and LDR for goal seeking. The proposed algorithm is tested on a simple mechanical platform of mobile robot. The controller of the mobile robot is run on a āCā environment, which is Boost C. Besides the main objective of studying the behaviour based algorithm, multi agent robot system is another part of my project. A leader follower system is designed and realized. From the results, it shows this architecture is simple and effective for obstacle avoidance. It is robust and enables rapid response to the environment changes. The follower is able to keep track of the leader with the information received from the leader. As a conclusion, the proposed algorithm is effective in obstacle avoidance.