Goal-oriented behaviour-based visual navigation

G. Cheng; A. Zelinsky

doi:10.1109/ROBOT.1998.680968

Goal-oriented behaviour-based visual navigation

G. Cheng
, A. Zelinsky

Australian Natl Univ

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3431-3436
Number of pages	6
ISBN (Print)	078034300X
DOIs	https://doi.org/10.1109/ROBOT.1998.680968
State	Published - 1998
Externally published	Yes
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: 16 May 1998 → 20 May 1998

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
ISSN (Print)	1050-4729

Conference

Conference	15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country/Territory	Belgium
City	Leuven
Period	16/05/98 → 20/05/98

Access to Document

10.1109/ROBOT.1998.680968

Cite this

@inproceedings{130e8c9e215d475c935f202dfb4ab7b6,

title = "Goal-oriented behaviour-based visual navigation",

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.",

author = "G. Cheng and A. Zelinsky",

note = "Publisher Copyright: {\textcopyright} 1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",

year = "1998",

doi = "10.1109/ROBOT.1998.680968",

language = "English",

isbn = "078034300X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3431--3436",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

Cheng, G & Zelinsky, A 1998, Goal-oriented behaviour-based visual navigation. in Proceedings - IEEE International Conference on Robotics and Automation., 680968, Proceedings - IEEE International Conference on Robotics and Automation, vol. 4, Institute of Electrical and Electronics Engineers Inc., pp. 3431-3436, 15th IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, 16/05/98. https://doi.org/10.1109/ROBOT.1998.680968

Goal-oriented behaviour-based visual navigation. / Cheng, G.; Zelinsky, A.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 1998. p. 3431-3436 680968 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 4).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Cheng, G.

AU - Zelinsky, A.

PY - 1998

Y1 - 1998

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/0031626434

U2 - 10.1109/ROBOT.1998.680968

DO - 10.1109/ROBOT.1998.680968

M3 - Conference contribution

AN - SCOPUS:0031626434

SN - 078034300X

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998

Y2 - 16 May 1998 through 20 May 1998

ER -

Goal-oriented behaviour-based visual navigation

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