Motor schema based navigation for a mobile robot: An approach to programming by behavior

by: R Arkin

Robotics and Automation. Proceedings. 1987 IEEE International Conference on, Vol. 4 (1987), pp. 264-271.

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Abstract

Motor schemas are proposed as a basic unit of behavior specification for the navigation of a mobile robot. These are multiple concurrent processes which operate in conjunction with associated perceptual schemas and contribute independently to the overall concerted action of the vehicle. The motivation behind the use of schemas for this domain is drawn from neuroscientific, psychological and robotic sources. A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot. An implementation strategy based on available tools at UMASS is described. Simulation results show the feasibility of this approach.

@inproceedings{Arkin1987, abstract = {Motor schemas are proposed as a basic unit of behavior specification for the navigation of a mobile robot. These are multiple concurrent processes which operate in conjunction with associated perceptual schemas and contribute independently to the overall concerted action of the vehicle. The motivation behind the use of schemas for this domain is drawn from neuroscientific, psychological and robotic sources. A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot. An implementation strategy based on available tools at UMASS is described. Simulation results show the feasibility of this approach.}, author = {Arkin, R. }, citeulike-article-id = {666507}, journal = {Robotics and Automation. Proceedings. 1987 IEEE International Conference on}, keywords = {robotics}, pages = {264--271}, posted-at = {2006-10-23 23:29:07}, priority = {2}, title = {Motor schema based navigation for a mobile robot: An approach to programming by behavior}, url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=1088037}, volume = {4}, year = {1987} }

RIS record

TY - CONF ID - Arkin1987 L3 - citeulike-article-id:666507 TI - Motor schema based navigation for a mobile robot: An approach to programming by behavior JF - Robotics and Automation. Proceedings. 1987 IEEE International Conference on VL - 4 SP - 264 EP - 271 N2 - Motor schemas are proposed as a basic unit of behavior specification for the navigation of a mobile robot. These are multiple concurrent processes which operate in conjunction with associated perceptual schemas and contribute independently to the overall concerted action of the vehicle. The motivation behind the use of schemas for this domain is drawn from neuroscientific, psychological and robotic sources. A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot. An implementation strategy based on available tools at UMASS is described. Simulation results show the feasibility of this approach. KW - robotics AU - Arkin, R PY - 1987/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1088037 ER -

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