Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots | Zendy

Kiyotaka Izumi | Zendy; Maki K. Habib | Zendy; Keigo Watanabe | Zendy; Ryoichi Sato | Zendy

Open Access

Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots

Author(s) -

Kiyotaka Izumi,

Maki K. Habib,

Keigo Watanabe,

Ryoichi Sato

Publication year - 2008

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/6234

Subject(s) - robot , obstacle avoidance , computer science , terrain , obstacle , set (abstract data type) , ultrasonic sensor , artificial intelligence , computer vision , sensory system , mobile robot , selection (genetic algorithm) , simulation , human–computer interaction , psychology , ecology , programming language , physics , political science , acoustics , law , cognitive psychology , biology

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

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