Goal-oriented behaviour-based visual navigation

G. Cheng, A. Zelinsky

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

We describe a mobile robot system that performs goal-oriented visual navigation using a behaviour-based architecture. The system was constructed as a result of our previous research (Zelinsky et al. (1995)) into behaviour-based mobile robot systems. Since the system is implemented using real-time vision it is able to navigate in dynamic and unknown environments. The most important feature of this navigation system is that the mobile robot can learn to resolve conflicts between its own internal behaviours, such as moving to a goal while avoiding obstacles. Our robot is able to efficiently avoid obstacles while trying to reach a goal. Experimental results of an implementation on a Yamabico mobile robot are presented.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3431-3436
Number of pages6
ISBN (Print)078034300X
DOIs
StatePublished - 1998
Externally publishedYes
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 16 May 199820 May 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume4
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country/TerritoryBelgium
CityLeuven
Period16/05/9820/05/98

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