Synthesis of reflexive behavior for a mobile robot based upon a stimulus-response paradigm

Tracy L. Anderson, Max Donath

Research output: Contribution to journalArticlepeer-review

10 Scopus citations

Abstract

An approach based upon the use of multiple primitive reflexive behaviors is presented in which the control of behavior is separated from the computational devices which affect behavior. Each primitive reflexive behavior is completely uncoupled and is based upon a stimulus/response paradigm which does not incorporate heuristics, path planning, or memory. We present experimental results for a simulated mobile robot operating in an unknown environment. The approach has also been verified using a real robot with onboard parallel processing, operating in an unknown and limited dynamic environment.

Original languageEnglish (US)
Pages (from-to)198-211
Number of pages14
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume1007
DOIs
StatePublished - Mar 10 1989

Bibliographical note

Funding Information:
This work was supported in part by the University of Minnesota Productivity Center, CyberOptics Corp., Office of Naval Research under Contract N0004-85-C-0847. In addition, the authors would like to thank MTS Systems Corp. for the loan of some equipment, Jay Talbott, Reza Vossoughi, Lynn Cameron, and the many students from the robotics course ME5271 in the Department of Mechanical Engineering which were involved in various aspects of building and programming Scarecrow, and Curt Bocchi of the CyberOptics Corporation, for the numerous hours he provided in technical support for the laser range sensor.

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