Details

Autor(en) / Beteiligte

• Garcia-Alegre, Maria C
• Recio, Felicidad

Titel

Basic Visual and Motor Agents for Increasingly Complex Behavior Generation on a Mobile Robot

Ist Teil von

• Autonomous robots, 1998-03, Vol.5 (1), p.19-28

Ort / Verlag

Dordrecht: Springer Nature B.V

Erscheinungsjahr

1998

Quelle

SpringerLINK Contemporary (Konsortium Baden-Württemberg)

Beschreibungen/Notizen

• Present work addresses the guidelines that have been followed to construct basic behavioral agents for visually guided navigation within the framework of a hierarchical architecture. Visual and motor interactions are described within this generic framework that allows for an incremental development of behavior from an initial basis set. Basic locomotion agents as, Stop&Backward, Avoid, and Forward are implemented by means of fuzzy knowledge bases to deal with the uncertainty and imprecision inherent to real systems and environments. Basic visual agents as, Saccadic, Find_Contour, and Center are raised under a space-variant representation pursuing an anthropomorphic approach. We illustrate how a complex behavior results from the combination of lower level agents always connected to the basic motor agents. The proposed methodology is validated on a caterpillar mobile robot in navigation tasks directed by an object description.