| Self-organized architecture for outdoor mobile robot navigation |
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| 作者姓名： | 张焕成 朱淼良 |
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| 作者单位： | School of Computer Science，Zhejiang University，Hangzhou 310027，China，School of Computer Science，Zhejiang University，Hangzhou 310027，China |
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| 摘 要： | INTRODUCTION Autonomous mobile robot is a machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposive manner, it can operate on its own without a human directly controlling it (Ehlert,1999). The primary task of a mobile robot is envi-ronmental navigation as basis for more useful tasks. In contrast to indoor mobile robots and industrial manipulation robots both working in relatively static and structured environme…
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| 关 键 词： | 室外机器人 体系结构 导航系统 程序设计 |
| 收稿时间： | 1 October 2004 |
| 修稿时间： | 15 December 2004 |
Self-organized architecture for outdoor mobile robot navigation |
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| Zhang Huan-cheng,Zhu Miao-liang.Self-organized architecture for outdoor mobile robot navigation[J].Journal of Zhejiang University Science,2005,6(6):583-590. |
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| Authors: | Zhang Huan-cheng Zhu Miao-liang |
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| Institution: | (1) School of Computer Science, Zhejiang University, 310027 Hangzhou, China |
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| Abstract: | This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navigation experiments on the robot in a variety of natural outdoor environments. |
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| Keywords: | Mobile robot Architecture Multi-agent |
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