Authors:
Christopher Armbrust
;
Lisa Kiekbusch
and
Karsten Berns
Affiliation:
University of Kaiserslautern, Germany
Keyword(s):
Behaviour-based, Activity sequences, Behaviour sequences, Autonomous off-road robot.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
In this paper, the problem of employing behaviour-based approaches to realise complex, deliberative functionalities on high navigation layers is addressed. Behaviour-based architectures typically target at the lower, more reactive aspects of robot navigation. Hence, it is usually not possible to profit from the advantages of behaviours at higher layers. The authors believe that this limitation is not necessary and suggest the use of behaviour activity sequences as a solution. As central element for the realisation of these sequences, a special
generic coordination behaviour is introduced in this paper. It is explained how behaviour activity sequences can be used to generate robot motions as well as to recognise certain situations which a robot may encounter. As examples, the behaviour-based generation of turning manoeuvres and the recognition of dead ends with behaviour activity sequences are shown. The developed concepts demonstrate how to benefit from the typical properties of beha
viour-based approaches without limiting the developer to mainly reactive systems.
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