Behavior Control of an Autonomous Mobile Robot in Dynamically Changing Environment.
Shun’ichi Asaka, Shigeki Ishikawa · Journal of the Robotics Society of Japan · 1994
We report a developed autonomous mobile robot (AMR) in dynamically changing environment.The AMR's behavior controller is based upon a state-transition scheme, which suits for realizing the AMR behavior control according to sensory information.The network of state-transition, however, becomes very large as behaviors become complicated.We divide the network among multiple tasks in order to suppress increase of complexity in single network.The tasks consists of a supervisor task and functional tasks.A supervisor task watches overall statuses and events, and controls functional tasks.Each functional task controls a specified part of the AMR's behavior.We constructed a real AMR system, on which the behavior control method is applied and it demonstrated in a showroom as a greeter robot.