Navigation of networked mobile robot using behavior-based model

摘要

This paper presents a behavior-based approach for the navigation of networked mobile robot. In the model, a complex navigation task is divided into individual behaviors. Each behavior deals with a different aspect of the network and environment. The predictive filter, stabilization control, and fuzzy logic are employed to design and implement the behavior. The coordination between behaviors is handled by a supervision layer. It determines the priorities of behaviors based on the context and then blends the output of each behavior to generate a crisp output. Experiments shows that the robot can follow user's commands, avoid obstacles, and reach destination while adapt to uncertain elements such as network delay, out-of-order delivery and packet loss.