NDLI: Navigational task-planning of distributed cooperative robotic vehicles

Content Provider	IEEE Xplore Digital Library
Author	Mansour, M. Shirkhodaie, A.
Copyright Year	2000
Description	Author affiliation: Intelligent Manuf. Res. Lab., Tennessee State Univ., Nashville, TN, USA (Mansour, M.)
Abstract	Real time obstacle avoidance is one of the intelligent tasks for intelligent mobile robots. Mobile robots should possess the ability to act autonomously in the presence of uncertainty and to adjust their action based on sensed information. They also should be capable of accepting high level mission oriented commands, integrate several kinds of data, including task specification, able to handle information about their own state and the state of the environment too, and be capable of reasoning under uncertainty without human intervention. The proposed technique is a behavior-based approach that blends subset navigational behaviors such as reflexive, potential field and wall following techniques. We discuss each approach separately and present a technique for adaptive navigational behavior switching that is conditional based on the availability of sensory information locally and globally. Our navigation control strategies are developed fully in the FMCell environment. We present some simulation results from FMCell software.
Starting Page	237
Ending Page	244
File Size	1106078
Page Count	8
File Format	PDF
ISBN	0780363124
DOI	10.1109/SECON.2000.845570
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-09
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Intelligent robots Mobile robots Sonar navigation Robot sensing systems Path planning Artificial intelligence Uncertainty Orbital robotics Intelligent systems
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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