Dynamical system approach for navigation using behavior coordination in indoor environments

Chin Huang Chen, S. V. Ragavan
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引用次数: 1

Abstract

Behavior based navigation has been an active research problem in the field of mobile robot navigation for more than a decade. The problem is to study each individual behavior and coordinate individual system behaviors to achieve the goal of the system. Competition or collaboration among behaviors to achieve the goals of a system requires arbitration and/or fusion of control signals. Arbitration in most of the systems is specified in terms of ‘events’. Discrete switching between groups of behaviors is achieved by detection of these ‘events’. Several individual behaviors are modeled using dynamical system approach. A simple rule-based system is applied as the coordination system for behaviors. In addition “Desperation” / FED UP behavior as in Human behavior is modeled so as to instill a bio-inspired behavior to the existing navigation system. FED UP factor is intended to mimic common “desperation” in human behavior to find a solution to avoid working on the similar tasks continuously at a time period. The FED UP factor as in Human desperation can lead to Malefic or Benefic effects. However as seen in the results, the effects of desperation can be controlled, moderated and made beneficial. The behavior coordination framework illustrates the arbitration and fusion of behaviors which facilitates smooth transition between behaviors.
室内环境中使用行为协调的导航动态系统方法
十多年来,基于行为的导航一直是移动机器人导航领域的研究热点。问题是研究每个个体的行为,并协调个体系统的行为以实现系统的目标。为了实现系统的目标,行为之间的竞争或合作需要仲裁和/或控制信号的融合。在大多数系统中,仲裁都是根据“事件”来指定的。行为组之间的离散切换是通过检测这些“事件”来实现的。采用动力系统方法对几种个体行为进行建模。使用一个简单的基于规则的系统作为行为的协调系统。此外,模拟人类行为中的“绝望”/“受够了”行为,以便向现有导航系统灌输生物启发行为。FED UP因素旨在模仿人类行为中常见的“绝望”,以找到解决方案,避免在一段时间内连续处理类似的任务。在《人类的绝望》中,“受够了”的因素可能导致邪恶或有益的影响。然而,从结果来看,绝望的影响是可以控制、缓和和有益的。行为协调框架说明了行为的仲裁和融合,促进了行为之间的顺利过渡。
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