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Journal of Zhejiang University SCIENCE A 2005 Vol.6 No.6 P.583~590

10.1631/jzus.2005.A0583


Self-organized architecture for outdoor mobile robot navigation


Author(s):  ZHANG Huan-cheng, ZHU Miao-liang

Affiliation(s):  School of Computer Science, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   amr@cs.zju.edu.cn

Key Words:  Mobile robot, Architecture, Multi-agent


ZHANG Huan-cheng, ZHU Miao-liang. Self-organized architecture for outdoor mobile robot navigation[J]. Journal of Zhejiang University Science A, 2005, 6(6): 583~590.

@article{title="Self-organized architecture for outdoor mobile robot navigation",
author="ZHANG Huan-cheng, ZHU Miao-liang",
journal="Journal of Zhejiang University Science A",
volume="6",
number="6",
pages="583~590",
year="2005",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2005.A0583"
}

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%T Self-organized architecture for outdoor mobile robot navigation
%A ZHANG Huan-cheng
%A ZHU Miao-liang
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2005.A0583

TY - JOUR
T1 - Self-organized architecture for outdoor mobile robot navigation
A1 - ZHANG Huan-cheng
A1 - ZHU Miao-liang
J0 - Journal of Zhejiang University Science A
VL - 6
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SP - 583
EP - 590
%@ 1673-565X
Y1 - 2005
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2005.A0583


Abstract: 
This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navigation experiments on the robot in a variety of natural outdoor environments.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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