Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots
A robot functioning in an environment may exhibit various forms of behavior emerge from the interaction with its environment through sense, control and plan activities. Hence, this paper introduces a behaviour selection based navigation and obstacle avoidance algorithm with effective method for adap...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/6234 |
| _version_ | 1818404483920560128 |
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| author | Kiyotaka Izumi Maki K. Habib Keigo Watanabe Ryoichi Sato |
| author_facet | Kiyotaka Izumi Maki K. Habib Keigo Watanabe Ryoichi Sato |
| author_sort | Kiyotaka Izumi |
| collection | DOAJ |
| description | A robot functioning in an environment may exhibit various forms of behavior emerge from the interaction with its environment through sense, control and plan activities. Hence, this paper introduces a behaviour selection based navigation and obstacle avoidance algorithm with effective method for adapting robotic behavior according to the environment conditions and the navigated terrain. The developed algorithm enable the robot to select the suitable behavior in real-time to avoid obstacles based on sensory information through visual and ultrasonic sensors utilizing the robot's ability to step over obstacles, and move between surfaces of different heights. In addition, it allows the robot to react in appropriate manner to the changing conditions either by fine-tuning of behaviors or by selecting different set of behaviors to increase the efficiency of the robot over time. The presented approach has been demonstrated on quadruped robot in several different experimental environments and the paper provides an analysis of its performance. |
| first_indexed | 2024-12-14T08:40:53Z |
| format | Article |
| id | doaj.art-fd9db572f1884f868c60cf8e423cff70 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-14T08:40:53Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-fd9db572f1884f868c60cf8e423cff702022-12-21T23:09:18ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142008-11-01510.5772/623410.5772_6234Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped RobotsKiyotaka IzumiMaki K. Habib0Keigo WatanabeRyoichi SatoCurrently at Department of Mechanical Engineering, School of Sciences and Engineering, the American University in Cairo, Cairo, EgyptA robot functioning in an environment may exhibit various forms of behavior emerge from the interaction with its environment through sense, control and plan activities. Hence, this paper introduces a behaviour selection based navigation and obstacle avoidance algorithm with effective method for adapting robotic behavior according to the environment conditions and the navigated terrain. The developed algorithm enable the robot to select the suitable behavior in real-time to avoid obstacles based on sensory information through visual and ultrasonic sensors utilizing the robot's ability to step over obstacles, and move between surfaces of different heights. In addition, it allows the robot to react in appropriate manner to the changing conditions either by fine-tuning of behaviors or by selecting different set of behaviors to increase the efficiency of the robot over time. The presented approach has been demonstrated on quadruped robot in several different experimental environments and the paper provides an analysis of its performance.https://doi.org/10.5772/6234 |
| spellingShingle | Kiyotaka Izumi Maki K. Habib Keigo Watanabe Ryoichi Sato Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots International Journal of Advanced Robotic Systems |
| title | Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots |
| title_full | Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots |
| title_fullStr | Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots |
| title_full_unstemmed | Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots |
| title_short | Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots |
| title_sort | behavior selection based navigation and obstacle avoidance approach using visual and ultrasonic sensory information for quadruped robots |
| url | https://doi.org/10.5772/6234 |
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