In this work, we suggested a new approach for the
control of a mobile robot capable of being a building block of an
intelligent agent. This approach includes obstacle avoidance and goal
tracking implemented as two different sliding mode controllers. A
geometry based behavior arbitration is proposed for fusing the two
outputs. Proposed structure is tested on simulations and real robot.
Results have confirmed the high performance of the method.
[1] R. C. Arkin, Behavior-based robotics. Cambridge, Mass.: MIT Press,
1998.
[2] J. Ferber, Multi-agent systems: an introduction to distributed artificial
intelligence. Harlow, Eng.: Addison-Wesley, 1999.
[3] W. L. Xu and S. K. Tso, "Sensor-Based Fuzzy Reactive Navigation of a
Mobile Robot Through Local Target Switching," IEEE Trans. on
Systems, Man and Cybernetics, Part C, vol. 29, pp. 451-459, 1999.
[4] R. A. Brooks, "A robust layered control system for a mobile robot," MIT
Artificial Intelligence Laboratory, Massachusetts A.I. Memo 864, Sep.
1985.
[5] K.-T. Song and C. C. Chang, "Reactive navigation in dynamic
environment using a multisensor predictor," IEEE Trans. on Systems,
Man and Cybernetics, Part B, vol. 29, pp. 870-880, 1999.
[6] R. A. Brooks, Cambrian intelligence: the early history of the new A.I.
Cambridge, Mass.: MIT Press, 1999.
[7] A. Steinhage and R. Schoner, "The dynamic approach to autonomous
robot navigation," presented at IEEE Int. Symp. on Industrial
Electronics, ISIE' 97, 1997.
[8] E. Tunstel and M. Jamshidi, "Fuzzy logic and behavior control strategy
for autonomous mobile robot mapping," presented at IEEE World
Congress on Computational Intelligence, Third IEEE Conf. on Fuzzy
Systems, 1994.
[9] N. C. Tsourveloudis, K. P. Valavanis, and T. Hebert, "Autonomous
vehicle navigation utilizing electrostatic potential fields and fuzzy
logic," IEEE Trans. on Robotics and Automation, vol. 17, pp. 490-497,
2001.
[10] R. C. Luo and T. M. Chen, "Development of a multi-behavior based
mobile robot for remote supervisory control through the Internet,"
IEEE/ASME Trans. on Mechatronics, vol. 5, pp. 376 -385, 2000.
[11] T. M. Chen and R. C. Luo, "Development and integration of multiple
behaviors for autonomous mobile robot navigation," presented at Proc.
of the 24th Annual Conf. of the IEEE Industrial Electronics Society,
IECON '98, 1998.
[12] L. E. Parker, "A performance-based architecture for heterogeneous,
situated agent cooperation," presented at AAAI Workshop on
Cooperation Among Heterogeneous Intelligent Systems, 1992.
[13] R. C. Arkin, T. Balch, and E. Nitz, "Communication of behavioral state
in multi-agent retrieval tasks," presented at IEEE Int. Conf. on Robotics
and Automation, 1993.
[14] D. Eustace, D. P. Barnes, and J. O. Gray, "A behavior synthesis
architecture for co-operant mobile robot control," presented at Int. Conf.
on Control, Control '94, 1994.
[15] M. Schneider-Fontan and M. J. Mataric, "Territorial multi-robot task
division," IEEE Trans. on Robotics and Automation, vol. 14, pp. 815-
822, 1998.
[16] C. Ma, W. Li, and L. Liu, "Mobile robot motion by integration of lowlevel
behavior control and high level global planning," presented at
IEEE Int. Conf. on Systems, Man and Cybernetics, 1996.
[17] S. S. Ge and Y. J. Cui, "New potential functions for mobile robot path
planning," IEEE Trans. on Robotics and Automation, vol. 16, pp. 615-
620, 2000.
[18] S. Yannier, "Realization of Reactive Control for Multi Purpose Mobile
Agents," in Electronics Eng. and Comp. Sciences. Istanbul: Sabanci
University, 2002, pp. 107.
[19] O. Khatib, "Real-time obstacle avoidance for manipulators and mobile
robots," presented at IEEE Int. Conf. on Robotics Automation, St. Louis,
MO, 1985.
[20] J. Borenstein and K. Y., "The Vector Field Histogram-Fast obstacle
avoidance for mobile robots," IEEE Transactions on Robotics &
Automation, vol. 7, pp. 278-287, 1991.
[21] J. Guldner and V. I. Utkin, "Sliding Mode Control for Gradient Tracking
and Robot Navigation Using Artificial Potential Fields," IEEE Trans. on
Robotics and Automation, vol. 11, pp. 247-254, 1995.
[1] R. C. Arkin, Behavior-based robotics. Cambridge, Mass.: MIT Press,
1998.
[2] J. Ferber, Multi-agent systems: an introduction to distributed artificial
intelligence. Harlow, Eng.: Addison-Wesley, 1999.
[3] W. L. Xu and S. K. Tso, "Sensor-Based Fuzzy Reactive Navigation of a
Mobile Robot Through Local Target Switching," IEEE Trans. on
Systems, Man and Cybernetics, Part C, vol. 29, pp. 451-459, 1999.
[4] R. A. Brooks, "A robust layered control system for a mobile robot," MIT
Artificial Intelligence Laboratory, Massachusetts A.I. Memo 864, Sep.
1985.
[5] K.-T. Song and C. C. Chang, "Reactive navigation in dynamic
environment using a multisensor predictor," IEEE Trans. on Systems,
Man and Cybernetics, Part B, vol. 29, pp. 870-880, 1999.
[6] R. A. Brooks, Cambrian intelligence: the early history of the new A.I.
Cambridge, Mass.: MIT Press, 1999.
[7] A. Steinhage and R. Schoner, "The dynamic approach to autonomous
robot navigation," presented at IEEE Int. Symp. on Industrial
Electronics, ISIE' 97, 1997.
[8] E. Tunstel and M. Jamshidi, "Fuzzy logic and behavior control strategy
for autonomous mobile robot mapping," presented at IEEE World
Congress on Computational Intelligence, Third IEEE Conf. on Fuzzy
Systems, 1994.
[9] N. C. Tsourveloudis, K. P. Valavanis, and T. Hebert, "Autonomous
vehicle navigation utilizing electrostatic potential fields and fuzzy
logic," IEEE Trans. on Robotics and Automation, vol. 17, pp. 490-497,
2001.
[10] R. C. Luo and T. M. Chen, "Development of a multi-behavior based
mobile robot for remote supervisory control through the Internet,"
IEEE/ASME Trans. on Mechatronics, vol. 5, pp. 376 -385, 2000.
[11] T. M. Chen and R. C. Luo, "Development and integration of multiple
behaviors for autonomous mobile robot navigation," presented at Proc.
of the 24th Annual Conf. of the IEEE Industrial Electronics Society,
IECON '98, 1998.
[12] L. E. Parker, "A performance-based architecture for heterogeneous,
situated agent cooperation," presented at AAAI Workshop on
Cooperation Among Heterogeneous Intelligent Systems, 1992.
[13] R. C. Arkin, T. Balch, and E. Nitz, "Communication of behavioral state
in multi-agent retrieval tasks," presented at IEEE Int. Conf. on Robotics
and Automation, 1993.
[14] D. Eustace, D. P. Barnes, and J. O. Gray, "A behavior synthesis
architecture for co-operant mobile robot control," presented at Int. Conf.
on Control, Control '94, 1994.
[15] M. Schneider-Fontan and M. J. Mataric, "Territorial multi-robot task
division," IEEE Trans. on Robotics and Automation, vol. 14, pp. 815-
822, 1998.
[16] C. Ma, W. Li, and L. Liu, "Mobile robot motion by integration of lowlevel
behavior control and high level global planning," presented at
IEEE Int. Conf. on Systems, Man and Cybernetics, 1996.
[17] S. S. Ge and Y. J. Cui, "New potential functions for mobile robot path
planning," IEEE Trans. on Robotics and Automation, vol. 16, pp. 615-
620, 2000.
[18] S. Yannier, "Realization of Reactive Control for Multi Purpose Mobile
Agents," in Electronics Eng. and Comp. Sciences. Istanbul: Sabanci
University, 2002, pp. 107.
[19] O. Khatib, "Real-time obstacle avoidance for manipulators and mobile
robots," presented at IEEE Int. Conf. on Robotics Automation, St. Louis,
MO, 1985.
[20] J. Borenstein and K. Y., "The Vector Field Histogram-Fast obstacle
avoidance for mobile robots," IEEE Transactions on Robotics &
Automation, vol. 7, pp. 278-287, 1991.
[21] J. Guldner and V. I. Utkin, "Sliding Mode Control for Gradient Tracking
and Robot Navigation Using Artificial Potential Fields," IEEE Trans. on
Robotics and Automation, vol. 11, pp. 247-254, 1995.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:60115", author = "Selim Yannier and Asif Sabanovic and Ahmet Onat and Muhammet Bastan", title = "Sliding Mode Based Behavior Control", abstract = "In this work, we suggested a new approach for the
control of a mobile robot capable of being a building block of an
intelligent agent. This approach includes obstacle avoidance and goal
tracking implemented as two different sliding mode controllers. A
geometry based behavior arbitration is proposed for fusing the two
outputs. Proposed structure is tested on simulations and real robot.
Results have confirmed the high performance of the method.", keywords = "Autonomous Mobile Robot, Behavior Based Control, Fast Local Obstacle Avoidance, Sliding Mode Control.", volume = "1", number = "12", pages = "747-6", }
