An insect-based approach to autonomous mobile robot navigation

Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI:10.1109/IECON.1993.339282

G. Pradel, Zhe-Kun Jin

{"title":"An insect-based approach to autonomous mobile robot navigation","authors":"G. Pradel, Zhe-Kun Jin","doi":"10.1109/IECON.1993.339282","DOIUrl":null,"url":null,"abstract":"Autonomy is an important capacity to a robot which works in the circumstances of real world. Navigating a robot in an unfamiliar terrain is a major topic of autonomy. This paper presents an insect-based approach to autonomous mobile robot navigation in an unknown world. In the \"N-antennae robot method\", the robot is considered as an simple insect with N antennae with which it detects the surrounding environment. Each antenna is activated if it hits an obstacle. The robot architecture is presented and different levels of behavior are defined. The N-antennae robot method is then described. It can be divided into 4 parts: 1. Simulation of an antenna, 2. Relations between the environment and the antennae status, 3. Principles of \"N-antennae robot\" method, 4. Rule format and program structure. The method was programmed and tested in various environments. Several are only simulated, others are reals. An example of the robot's path illustrates the method. We conclude on the efficiency of the method and we present future developments of this approach using a multi-agent system.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"59 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.1993.339282","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 3

Abstract

Autonomy is an important capacity to a robot which works in the circumstances of real world. Navigating a robot in an unfamiliar terrain is a major topic of autonomy. This paper presents an insect-based approach to autonomous mobile robot navigation in an unknown world. In the "N-antennae robot method", the robot is considered as an simple insect with N antennae with which it detects the surrounding environment. Each antenna is activated if it hits an obstacle. The robot architecture is presented and different levels of behavior are defined. The N-antennae robot method is then described. It can be divided into 4 parts: 1. Simulation of an antenna, 2. Relations between the environment and the antennae status, 3. Principles of "N-antennae robot" method, 4. Rule format and program structure. The method was programmed and tested in various environments. Several are only simulated, others are reals. An example of the robot's path illustrates the method. We conclude on the efficiency of the method and we present future developments of this approach using a multi-agent system.<>

查看原文本刊更多论文

基于昆虫的自主移动机器人导航方法

自主性是机器人在现实环境中工作的一项重要能力。在不熟悉的地形中引导机器人是自主研究的一个重要课题。提出了一种基于昆虫的未知世界自主移动机器人导航方法。在“N天线机器人方法”中，机器人被认为是一个简单的昆虫，它有N个天线，用来探测周围的环境。如果碰到障碍物，每个天线都会被激活。给出了机器人的体系结构，并定义了不同层次的行为。然后描述了n天线机器人方法。它可以分为4个部分:1。天线仿真;2。2 .环境与天线状态的关系;3 .“n天线机器人”法原理;规则格式和程序结构。对该方法进行了编程并在各种环境中进行了测试。有些只是模拟的，有些是真实的。机器人路径的一个例子说明了该方法。我们总结了该方法的效率，并提出了使用多智能体系统的该方法的未来发展。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics

自引率

0.00%

发文量