Dynamical system approach for navigation using behavior coordination in indoor environments

Chin Huang Chen, S. Veera Ragavan

    Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

    1 Citation (Scopus)

    Abstract

    Behavior based navigation has been an active research problem in the field of mobile robot navigation for more than a decade. The problem is to study each individual behavior and coordinate individual system behaviors to achieve the goal of the system. Competition or collaboration among behaviors to achieve the goals of a system requires arbitration and/or fusion of control signals. Arbitration in most of the systems is specified in terms of 'events'. Discrete switching between groups of behaviors is achieved by detection of these 'events'. Several individual behaviors are modeled using dynamical system approach. A simple rule-based system is applied as the coordination system for behaviors. In addition "Desperation" / FED UP behavior as in Human behavior is modeled so as to instill a bio-inspired behavior to the existing navigation system. FED UP factor is intended to mimic common "desperation" in human behavior to find a solution to avoid working on the similar tasks continuously at a time period. The FED UP factor as in Human desperation can lead to Malefic or Benefic effects. However as seen in the results, the effects of desperation can be controlled, moderated and made beneficial. The behavior coordination framework illustrates the arbitration and fusion of behaviors which facilitates smooth transition between behaviors.

    Original languageEnglish
    Title of host publication2009 Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2009
    Pages159-164
    Number of pages6
    DOIs
    Publication statusPublished - 2009
    EventIEEE Conference on Innovative Technologies in Intelligent Systems and Industrial Applications 2009 - Kuala Lumpur, Malaysia
    Duration: 25 Jul 200926 Jul 2009
    https://ieeexplore.ieee.org/xpl/conhome/5210013/proceeding (Proceedings)

    Conference

    ConferenceIEEE Conference on Innovative Technologies in Intelligent Systems and Industrial Applications 2009
    Abbreviated titleCITISIA 2009
    Country/TerritoryMalaysia
    CityKuala Lumpur
    Period25/07/0926/07/09
    Internet address

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