A Description and a Programming Method for the Sensor Based Behavior of the Autonomous Mobile Robot.
Shooji Suzuki, Shin’ichi Yuta · Journal of the Robotics Society of Japan · 1992
The mobile robot wil meet various situations while it moves in the real environment. The occurrence of such situations are caused by the uncertainty of the real environment, and it's impossible to determine the exact timing of the occurrence before robot's moving. Therefore, the mobile robot must watch environment by its sensors and change its motion dynamically dealing with the occurred situations.In this paper, the concept of Action mode is introduced to analyze and represent such behavior of the mobile robot. Action mode is defined by motion commands to the actuator controller, the conditions to watch various situations and motion selection to deal with occurred situations. The robot behavior is represented by transition of Action modes. The robot control language ROBOL/0 based on the Action mode representation is proposed. The navigation of a mobile robot in the real world using the sensor and map information is treated as an example.