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Abstract
Decision Making for a Mobile Robot Using
Potential Function
Kazumi Oikawa, Hidenori Takauji, Takanori Emaru, Shigenori Okubo,
and Takeshi Tsuchiya
Journal of Robotics and Mechatronics,
vol.19, no.3, pp.298-307 (2007).
Abstract
We discuss decision making for a behavior-based robot with modules
which determining robot action. The subsumption architecture (SA)
arranges modules in layers, giving upper-layer module action priority
over lower-layer modules. Although implementation is easy, results
in many inefficient actions because upper-layer module are used
regardless of other modules. We solve this problem by representing
actions by Potential Function (PF), in which maximum votes are
collected from modules. Using event-driven state transition,
the robot decides its action with appropriate sets of modules
changed based on the situation. We apply this to navigation tasks
in a corridor and show simulation results. When we give a map and
path designation to the robot, we use a handwriting map interface.
We compare object-oriented design SA and PMF with our proposal and
show how inefficient actions are reduced using our proposal.
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Takanori Emaru ：
(c) Laboratory of Robotics and Dynamics, Hokkaido University