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REALIZATION OF REACTIVE CONTROL FOR MULTI PURPOSE MOBILE AGENTS

Journal Name:

  • Istanbul University Journal of Electrical & Electronics Engineering

Publication Year:

  • 2004

Key Words:

Author NameUniversity of Author
Abstract (2. Language): 
Mobile robots are built for different purposes, have different physical size, shape, mechanics and electronics. They are required to work in real-time, realize more than one goal simultaneously, hence to communicate and cooperate with other agents. The approach proposed in this paper for mobile robot control is reactive and has layered structure that supports multi sensor perception. Potential field method is implemented for both obstacle avoidance and goal tracking. However imaginary forces of the obstacles and of the goal point are separately treated, and then resulting behaviors are fused with the help of the geometry. Proposed control is tested on simulations where different scenarios are studied. Results have confirmed the high performance of the method.
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  • 2
1161-1170
  • English

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Realization of Reactive Control for Multi Purpose Mobile Agents
Selim YANNİER, Asif ŞABANOVİÇ, Ahmet ONAT
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