Behavior-based mobile robot using active sensor fusion

I. Kweon, Y. Kuno, M. Watanabe, K. Onoguchi
Proceedings 1992 IEEE International Conference on Robotics and Automation  
We present a navigation system using multiple sensors for unknown and dynamic indoor environments. To achieve the robustness and flexibility of the mobile robot, we develop a Behavior-Based system architecture, consisting of multi-layered behaviors using multiple sensors: ultrasonic sensors and a video camera. Basic behaviors required for navigation, such as, avoiding obstacles, moving towards free space, and following targets, are redundantly developed as agents and combined in a
more » ... system architecture. We demonstrate the capabilities of our system in unstructured real office environments, using an indoor mobile robot developed by Toshiba.
doi:10.1109/robot.1992.220137 dblp:conf/icra/KweonKWO92 fatcat:dhtn5eqpcfdcfe2jbi5pj2tdh4