Abstract
This article presents a constraint-based behavioural architecture for low-level safe navigation, the Survival Kit. Instead of approaching the problem by customising a generic Behaviour-Based architecture, the Survival Kit embodies a dedicated semantics for safe navigation, which augments its expressiveness for the task. An instantiation of the architecture for goal-oriented obstacle avoidance in unstructured indoor environments is proposed. Special attention is given to an environmental feature, the gap, which allows to optimise paths based on immediate ranging data. Experimental results in simulation confirm the capabilities of the approach.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Arkin, R.C.: Motor schema-based mobile robot navigation. International Journal of Robotics Research 8(4), 92–112 (1989)
Brooks, R.: A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation 2(1), 14–23 (1986)
Correia, L., Garção, A.S.: Behavior Based Architecture with Distributed Selection. NATO Advanced Study Institute – The Biology and Technology of Intelligent Autonomous Systems 144, 377–389 (1995)
Fox, D., Burgard, W., Thrun, S.: The dynamic window approach to collision avoidance. IEEE Robotics & Automation Magazine 4(1), 23–33 (1997)
Girkey, B.P., Vaughan, R.T., Howard, A.: The Player/Stage Project: tools for multi-robot and distributed sensor systems. In: Proceedings of the International Conference on Advanced Robotics (ICAR) (July 2003)
Maes, P.: How to do the right thing. Connection Science Journal 1(3), 291–323 (1989)
Minguez, J., Montano, L.: Nearness diagram navigation (ND): collision avoidance in troublesome scenarios. IEEE Transactions on Robotics and Automation 20(1), 45–59 (2004)
Rosenblatt, J.K.: DAMN: a distributed architecture for mobile navigation. In: Proceedings of the AAAI Spring Symp. on Lessons Learned from Implemented Software Architectures for Physical Agents (1995)
Simmons, R.: The curvature velocity method for local obstacle avoidance. In: Proceedings of the IEEE International Conference on Robotics and Automation (1996)
Tovar, B., Guilamo, L., LaValle, S.M.: Gap navigation trees: a minimal representation for visibility-based tasks. In: Proceedings of the Workshop on Algorithmic Foundations of Robotics, pp. 11–26 (2004)
Ulrich, I., Borenstein, J.: VFH+: reliable obstacle avoidance for fast mobile robots. In: Proceedings of the International Conference on Robotics & Automation (1998)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Santana, P., Correia, L. (2005). Survival Kit: A Constraint-Based Behavioural Architecture for Robot Navigation. In: Bento, C., Cardoso, A., Dias, G. (eds) Progress in Artificial Intelligence. EPIA 2005. Lecture Notes in Computer Science(), vol 3808. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11595014_43
Download citation
DOI: https://doi.org/10.1007/11595014_43
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-30737-2
Online ISBN: 978-3-540-31646-6
eBook Packages: Computer ScienceComputer Science (R0)