Basic Visual and Motor Agents for Increasingly Complex Behavior Generation on a Mobile Robot

Present work addresses the guidelines that have been followed to construct basic behavioral agents for visually guided navigation within the framework of a hierarchical architecture. Visual and motor interactions are described within this generic framework that allows for an incremental development...

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Bibliographic Details
Published in:Autonomous robots 1998-03, Vol.5 (1), p.19-28
Main Authors: Garcia-Alegre, Maria C, Recio, Felicidad
Format: Article
Language:English
Subjects:
Autonomous
BASIC (programming language)
Behavior
Fuzzy
Knowledge base
Knowledge bases (artificial intelligence)
Locomotion
Motors
Navigation
Robots
Studies
Visual
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Summary:Present work addresses the guidelines that have been followed to construct basic behavioral agents for visually guided navigation within the framework of a hierarchical architecture. Visual and motor interactions are described within this generic framework that allows for an incremental development of behavior from an initial basis set. Basic locomotion agents as, Stop&Backward, Avoid, and Forward are implemented by means of fuzzy knowledge bases to deal with the uncertainty and imprecision inherent to real systems and environments. Basic visual agents as, Saccadic, Find_Contour, and Center are raised under a space-variant representation pursuing an anthropomorphic approach. We illustrate how a complex behavior results from the combination of lower level agents always connected to the basic motor agents. The proposed methodology is validated on a caterpillar mobile robot in navigation tasks directed by an object description.
ISSN:0929-5593
1573-7527
DOI:10.1023/A:1008808908196